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Problem simulating kinect in gazebo

asked 2011-11-29 17:50:04 -0500

Laurie gravatar image

updated 2016-10-24 09:03:24 -0500

ngrennan gravatar image

Hi,

I am trying to simulate the turtlebot in gazebo. I am using the turtlebot_gazebo and stack for that (using robot.launch).

However, the depth data coming from the (simulated) kinect is all wrong. Every point in the point cloud published by the /camera/depth/points topic has a depth of 1.0. This is when the light source in the .world file is of the directional kind. When I use a point or spot light source, the bottom half of the pointcloud has depth of 1.0 and the top half either NaN or 1.0 (depending on whether something is within range or not). This is preventing me to use any SLAM algorithm in gazebo. I get the camera rgb image through correctly.

I am using Ubuntu 11.04 and electric.

Thanks a lot.

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answered 2011-12-12 05:05:36 -0500

tfoote gravatar image

@Laurie, In general you want a discreet graphics card to run the simulations. There's a list of user tested cards at http://www.ros.org/wiki/simulator_gazebo/SystemRequirements

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I am using a nVidia card now, and the depth data is correctly simulated. Thanks.
Laurie gravatar imageLaurie ( 2011-12-21 22:58:50 -0500 )edit
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answered 2011-12-01 15:22:50 -0500

JonW gravatar image

I had a similar issue with a depth camera in Gazrbo. From memory it was caused by the use of texture shadows. Setting shadows to none in the world file resolved the issue for me.

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Do you mean <shadowTechnique>none</shadowTechnique> and <shadows>false</shadows> within the <rendering:ogre> tag? If so, this solution does not work.
Laurie gravatar imageLaurie ( 2011-12-01 17:37:09 -0500 )edit
Yes, thats the one I was thinking of.
JonW gravatar imageJonW ( 2011-12-03 12:07:12 -0500 )edit
what graphics card do you have?
hsu gravatar imagehsu ( 2011-12-08 12:41:18 -0500 )edit
Using lspci I get "Intel Corporation 4 Series Chipset Integrated Graphics Controller"
Laurie gravatar imageLaurie ( 2011-12-08 18:32:46 -0500 )edit

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Asked: 2011-11-29 17:50:04 -0500

Seen: 1,361 times

Last updated: Dec 12 '11