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No point cloud in Turtlebot Gazebo gmapping

asked 2015-03-05 01:50:16 -0500

Ahmet Sezgin Duran gravatar image

updated 2015-03-09 17:41:23 -0500

tfoote gravatar image

I'm trying to follow this tutorial with Gazebo simulator:

http://learn.turtlebot.com/2015/02/01/11/

In the tutorial, (real) Turtlebot is scanning the environment with Kinect point cloud. But when I run the examples in the turtlebot_gazebo package, it only scans with a fake laser. Probably because of this node, in the launch file of example:

https://github.com/turtlebot/turtlebot_simulator/blob/indigo/turtlebot_gazebo/launch/turtlebot_world.launch#L25

Anyway, how can I add the Kinect point cloud scan to that example?

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answered 2015-03-06 00:59:51 -0500

JollyGood gravatar image

I think you can see the point cloud if you add PointCloud2 with the topic name: e.g. /camera/depth/points

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Anyway without using script? I just wanted to see it in Rviz.

Ahmet Sezgin Duran gravatar image Ahmet Sezgin Duran  ( 2015-03-08 16:48:15 -0500 )edit

In RViz, you add a visualization by clicking the "add" button on the bottom left. A window will pop up, displaying different data types. Click "PointCloud2", hit "OK", and you will see a PointCloud2 on the left-hand side of RViz in the "Displays" area. Expand it, and then type the topic in.

BlitherPants gravatar image BlitherPants  ( 2015-03-11 13:12:10 -0500 )edit

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Asked: 2015-03-05 01:50:16 -0500

Seen: 988 times

Last updated: Mar 06 '15