ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

openni.launch creates a different frames tree for the Kinect [closed]

asked 2014-02-11 05:30:52 -0600

rleontie gravatar image

updated 2014-11-22 17:05:19 -0600

ngrennan gravatar image

I am using openni pkg on a PR2 that has a kinect sensor attached and running goovy. I need to be able to transform between the camera frame and the PR2 links.

When I launch openni :

roslaunch openni_launch openni.launch

A different camera frame tree is created that is not connected to the PR2

I tried changing the camera parameter for the openni_launch to be head_mount_kinect but that din't bring the camera tf frames back on the tree.

The only possible solution that I found is to add another fixed frame to tf specifying that the camera and the head_mount_kinect are the same frame with no translation or rotation between them.

That seems to much of a hack, is there a more elegant solution?

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by rleontie
close date 2014-02-11 07:00:01

1 Answer

Sort by ยป oldest newest most voted

answered 2014-02-11 06:27:46 -0600

ahendrix gravatar image

You should use the openni launch file that shipped with the PR2; I believe it's in /etc/ros/openni_head.launch alongside robot.launch.

edit flag offensive delete link more


Thanks Austin that worked. I figured also I could use the launch file from the rgbd_assembler: openni_node_new.launch

rleontie gravatar image rleontie  ( 2014-02-11 06:58:10 -0600 )edit

Question Tools



Asked: 2014-02-11 05:30:52 -0600

Seen: 466 times

Last updated: Feb 11 '14