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Kinect sensor not working?

asked 2013-12-08 06:00:54 -0500

DPK27 gravatar image

updated 2014-04-20 14:09:43 -0500

ngrennan gravatar image

Hi, I want to see the output of the 3DSensors of the turtlebot in simulation in gazebo.

I am launching turtlebot in gazebo using command:

roslaunch turtlebot_gazebo turtlebot_empty_world.launch


roslaunch turtlebot_bringup minimal.launch


roslaunch turtlebot_bringup 3dsensor.launch

then, Its showing:

started roslaunch server http:// localhost:53453/


PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads * /camera/depth_rectify_depth/interpolation * /camera/depth_registered_rectify_depth/interpolation * /camera/disparity_depth/max_range * /camera/disparity_depth/min_range * /camera/disparity_registered_hw/max_range * /camera/disparity_registered_hw/min_range * /camera/disparity_registered_sw/max_range * /camera/disparity_registered_sw/min_range * /camera/driver/depth_camera_info_url * /camera/driver/depth_frame_id * /camera/driver/depth_registration * /camera/driver/device_id * /camera/driver/rgb_camera_info_url * /camera/driver/rgb_frame_id * /depthimage_to_laserscan/output_frame_id * /depthimage_to_laserscan/range_min * /depthimage_to_laserscan/scan_height * /rosdistro * /rosversion

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) debayer (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_ir (nodelet/nodelet) rectify_mono (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) / depthimage_to_laserscan (nodelet/nodelet)

ROS_MASTER_URI=http:// localhost:11311

core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [5376] process[camera/driver-2]: started with pid [5399] process[camera/debayer-3]: started with pid [5434] process[camera/rectify_mono-4]: started with pid [5450] process[camera/rectify_color-5]: started with pid [5467] process[camera/rectify_ir-6]: started with pid [5483] process[camera/depth_rectify_depth-7]: started with pid [5500] process[camera/depth_metric_rect-8]: started with pid [5516] process[camera/depth_metric-9]: started with pid [5534] process[camera/depth_points-10]: started with pid [5552] process[camera/register_depth_rgb-11]: started with pid [5569] process[camera/points_xyzrgb_sw_registered-12]: started with pid [5585] process[camera/depth_registered_rectify_depth-13]: started with pid [5603] process[camera/points_xyzrgb_hw_registered-14]: started with pid [5621] process[camera/disparity_depth-15]: started with pid [5639] process[camera/disparity_registered_sw-16]: started with pid [5656] process[camera/disparity_registered_hw-17]: started with pid [5672] process[depthimage_to_laserscan-18]: started with pid [5690] PLZ help anyone... THANKS in advance...

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answered 2013-12-10 13:21:18 -0500

jihoonl gravatar image

updated 2013-12-10 13:24:52 -0500

Assumes that you are using hydro.

To simulate turtlebot, you don't have to launch minimal and 3d sensor. You can control both 3d sensor and robot with the command below.

roslaunch turtlebot_gazebo turtlebot_empty_world.launch


roslaunch turtlebot_gazebo turtlebot_playground.launch

/camera/depth/points will give you 3d data. check with this command

rostopic bw /camera/depth/points 

or bringup rviz and see.

roslaunch turtlebot_rviz_launchers view_robot.launch
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Asked: 2013-12-08 06:00:54 -0500

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Last updated: Dec 10 '13