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

asked 2014-02-11 05:30:52 -0500

rleontie gravatar image

updated 2014-11-22 17:05:19 -0500

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?

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

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answered 2014-02-11 06:27:46 -0500

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.

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

rleontie gravatar imagerleontie ( 2014-02-11 06:58:10 -0500 )edit

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Asked: 2014-02-11 05:30:52 -0500

Seen: 402 times

Last updated: Feb 11 '14