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The work of Kevin Walchko you at his github is trying to address this very problem. I think it is related to problems with the openni_driver on OS X, which has been historically problematic, Kevin can probably comment better here.

As for visualization in the VM, try switching the display to points from billboards of the PointCloud2 type. For some reason several of the nvidia CG shader scripts do not work properly on Mac (either directly or via a virtual machine). This is a known problem and it might be fixed in the future, but the current work around is to avoid billboards.

There is no native obj-c client for ROS nor are there wrappers to the c++ ROS client at the moment, but there is a new special interest group (SIG) for exactly this: http://ros.org/wiki/groovy/Planning/iOS

The work of Kevin Walchko you found at his github is trying to address this very problem. I think it is related to problems with the openni_driver on OS X, which has been historically problematic, Kevin can probably comment better here.

As for visualization in the VM, try switching the display to points from billboards of the PointCloud2 type. For some reason several of the nvidia CG shader scripts do not work properly on Mac (either directly or via a virtual machine). This is a known problem and it might be fixed in the future, but the current work around is to avoid billboards.

There is no native obj-c client for ROS nor are there wrappers to the c++ ROS client at the moment, but there is a new special interest group (SIG) for exactly this: http://ros.org/wiki/groovy/Planning/iOS