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Simulated kinect

asked 2011-12-07 21:08:21 -0500

ZdenekM gravatar image

updated 2016-10-24 09:00:16 -0500

ngrennan gravatar image

Hello,

I have problem with simulated Kinect. Turtlebot is placed in some environment (ipa-kitchen from COB stack) and pointcloud from it looks like a plane in front of robot as you can see on screenshot:

image description

Data looks like this:

header: 
  seq: 4196
  stamp: 
    secs: 305
    nsecs: 177000000
  frame_id: kinect_depth_optical_frame
height: 480
width: 640
fields: 
  - 
    name: x
    offset: 0
    datatype: 7
    count: 1
  - 
    name: y
    offset: 4
    datatype: 7
    count: 1
  - 
    name: z
    offset: 8
    datatype: 7
    count: 1
is_bigendian: False
point_step: 16
row_step: 10240
data: [27, 146, 19, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 222, 27, 19, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0
, 128, 63, 160, 165, 18, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 98, 47, 18, 191, 153, 61, 221, 190, 0, 0, 128, 63, 
0, 0, 128, 63, 36, 185, 17, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 230, 66, 17, 191, 153, 61, 221, 190, 0, 0, 128, 
63, 0, 0, 128, 63, 169, 204, 16, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 107, 86, 16, 191, 153, 61, 221, 190, 0, 0, 
128, 63, 0, 0, 128, 63, 45, 224, 15, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 239, 105, 15, 191, 153, 61, 221, 190, 0
, 0, 128, 63, 0, 0, 128, 63, 177, 243, 14, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 116, 125, 14, 191, 153, 61, 221, 
190, 0, 0, 128, 63, 0, 0, 128, 63, 54, 7, 14, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 248, 144, 13, 191, 153, 61, 22
1, 190, 0, 0, 128, 63, 0, 0, 128, 63, 186, 26, 13, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 125, 164, 12, 191, 153, 6
1, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 63, 46, 12, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 1, 184, 11, 191, 153,
 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 195, 65, 11, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 133, 203, 10, 191,
 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 72, 85, 10, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 10, 223, 9, 19
1, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 204, 104, 9, 191, 153, 61, 221, 190, 0, 0, 128, 63, 0, 0, 128, 63, 142, 242, 8
, 191, 153, ...
There are just this two warnings in rxconsole...
gazebo_ros_camera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
and
Message from [/gazebo] has a non-fully-qualified frame_id [kinect_depth_optical_frame]. Resolved locally to [/kinect_depth_optical_frame].  This is will likely ...
(more)
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2 Answers

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answered 2011-12-08 00:56:56 -0500

Laurie gravatar image

updated 2011-12-13 19:38:12 -0500

I have posted the same question. See here.

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Comments

Maybe the reason could be graphic card? I'm using Intel integrated card which is not well supported by Gazebo - so maybe this is the reason for weird data...
ZdenekM gravatar image ZdenekM  ( 2011-12-08 01:52:18 -0500 )edit
I cannot reproduce the error on my desktop (with nvidia card). What files did you launch? thanks.
hsu gravatar image hsu  ( 2011-12-08 12:38:26 -0500 )edit
"roslaunch cob_gazebo_worlds ipa-kitchen.launch" and "roslaunch turtlebot_gazebo robot.launch"
ZdenekM gravatar image ZdenekM  ( 2011-12-08 18:38:29 -0500 )edit
3

answered 2011-12-12 20:35:16 -0500

ZdenekM gravatar image

It was caused by integrated Intel graphic card. With NVIDIA it's ok now.

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Comments

Sorry, so what was the solution ... could you expand on your answer? Did you switch from an integrated GPU (laptop/netbook?) to a desktop with a dedicated GPU?
Kevin gravatar image Kevin  ( 2011-12-29 05:51:07 -0500 )edit
I switched from Intel i5 integrated GPU to NVIDIA GTX 560 Ti GPU on my desktop PC. This change also resolved some problem with visualization in RVIZ so I can recommend anyone NVIDIA GPU for use with Gazebo and RVIZ.
ZdenekM gravatar image ZdenekM  ( 2012-01-01 19:18:54 -0500 )edit

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Asked: 2011-12-07 21:08:21 -0500

Seen: 709 times

Last updated: Dec 13 '11