Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Kinect for Navigation on Erratic Robot

asked 2011-06-13 03:22:43 -0600

roboviz
26 ●3 ●4 ●6

updated 2016-10-24 08:33:43 -0600

ngrennan
1 ●1 ●1

I have a kinect fitted on an erratic robot base. So far I managed to get the kinect and base working separately in ROS using erratic_player and openni for kinect. I also tried kinect laser emulator provided by ardros and works nicely.

I had a look at tf and also tutorials however am a bit stuck on how to set up and link the kinect frame and erratic odometry frame onto a common frame for navigation stack.

I think I am missing something fairly basic which I cannot figure out.

Any help will be greatly appreciated.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2011-06-13 04:31:57 -0600

dornhege

31395 ●134 ●284 ●498

updated 2011-06-13 04:32:13 -0600

Have you seen this tutorial: Robot Setup?

For your robot you basically need to provide two tfs: odom -> base_link (the odometry) and base_link -> base_laser (the laser/kinect position). For the latter you can use a static_transform_publisher.

edit flag offensive delete link

Comments

Thanks for your answer. Yes I already had a look at Robot Setup tutorial and admittedly I got a bit lost there. This goes to show how beginner I am on ROS! I will give it another try and hopefully be able to create the TFs and link them as suggested.

roboviz ( 2011-06-13 20:24:36 -0600 )edit

add a comment

Question Tools

Stats

Asked: 2011-06-13 03:22:43 -0600

Seen: 523 times

Last updated: Jun 13 '11

Kinect for Navigation on Erratic Robot edit

1 Answer

Comments

Question Tools

Stats

Related questions

Kinect for Navigation on Erratic Robot