openni kinect gazebo no depth data

asked 2011-08-18 00:36:48 -0600

Moataz Elmasry
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Hello

I'm trying to use the simulated kinect in gazebo, I just copy pasted the gazebo kinect snippet used in turtlebot and adapted it to my needs. the topic /camera/image_raw is publishing and I can see the image in rviz On the other hand no point cloud is being published on /camera/depth/points, The topic has been started, just no data are published on it. Any ideas? Regards, Moataz

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answered 2011-08-18 10:19:47 -0600

hsu
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updated 2011-08-18 10:21:31 -0600

Assuming you are on electric...

I am not sure about the missing image views in rviz, but w.r.t. the point clouds, you have just discovered a bug in the threshold logic based on connected clients in the gazebo_ros_camera plugin. It's fixed in trunk. One temporary hack around this bug is to:

make sure no one is subscribed to the image_raw ros topic.
now subscribe to the points topic

I'll shoot for a new release very soon. sorry about the breakage.

John

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are you talking about the snippet gazebo_ros_openni_kinect.cpp::updatechild(). if (!this->myParent->IsActive()) { // do this first so there's chance for sensor to run 1 frame after activate if (this->pointCloudConnectCount > 0) { this->myParent->SetActive(true); this->myParent->SimulateDepthData(true); } else if (this->imageConnectCount > 0) { this->myParent->SimulateDepthData(false); this->myParent->SetActive(true); } }

Moataz Elmasry ( 2011-08-18 20:59:33 -0600 )edit

when do you expect this fix to appear on unstable ubuntu repo?

Moataz Elmasry ( 2011-08-18 23:14:03 -0600 )edit

I had originally fixed only gazebo_ros_camera, which would have not been enough... just pushed same changes for gazebo_ros_openni_kinect in trunk. Can someone else test it out and let me know it's working correctly before I make the final release? Thanks.

hsu ( 2011-08-19 09:53:14 -0600 )edit

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answered 2011-08-18 10:03:00 -0600