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What camera topic should be given to the navigation stack? [closed]

asked 2015-10-05 10:59:55 -0500

Pandaii gravatar image

Hello !!

I want to use an Asus Xtion with openni2_launch. But I can't figure out which topic I should give in the navigation stack. I tried the following code lines in costmap_common_params.yaml:

observation_sources: point_cloud_sensor 
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth_registered/points, marking: true, clearing: true}

observation_sources: point_cloud_sensor 
point_cloud_sensor: {sensor_frame: camera_depth_optical_frame, data_type: PointCloud2, topic: /camera/depth/points, marking: true, clearing: true}

observation_sources: laser_scan_sensor 
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

With each of these 3 parameters, I don't get any obstacle topic to subscribe to in rviz.

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Closed for the following reason the question is answered, right answer was accepted by Pandaii
close date 2015-10-08 12:11:46.586718

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what are you using in your launch files?

jessiems10 gravatar image jessiems10  ( 2015-10-05 14:56:19 -0500 )edit

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answered 2015-10-06 02:08:54 -0500

Humpelstilzchen gravatar image

updated 2015-10-06 02:09:15 -0500

You have to convert your depth image to either laserscan or pointcloud first, using a node like e.g. depthimage_to_laserscan.

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Thanks, I never heard about that in the tutorials before. I thought that /camera/depth/points was a usable pointcloud2 topic.

Pandaii gravatar image Pandaii  ( 2015-10-06 11:12:04 -0500 )edit

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Asked: 2015-10-05 10:59:55 -0500

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Last updated: Oct 06 '15