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Kinect for Navigation on Erratic Robot

asked 2011-06-13 03:22:43 -0500

roboviz gravatar image

updated 2016-10-24 08:33:43 -0500

ngrennan gravatar image

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.

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answered 2011-06-13 04:31:57 -0500

dornhege gravatar image

updated 2011-06-13 04:32:13 -0500

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.

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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 gravatar image roboviz  ( 2011-06-13 20:24:36 -0500 )edit

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Asked: 2011-06-13 03:22:43 -0500

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Last updated: Jun 13 '11