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How to get depthimage_to_laserscan working?

asked 2015-10-16 11:36:29 -0500

Pandaii gravatar image

Hi !

When I launch openni_launch and depthimage_to_laserscan, the topic /scan is actually being published but nothing happens in Rviz when I had a laserscan display and set it to /scan.

I have no idea what to check, I just installed the package and wrote the navigation stack config: in move_base.launch: node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan"

in costmap_common_params:

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

How can I check if depth_image_to_laserscan is feeding the /scan topic?

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rqt->node graph and rostopic echo /scan --noarr should help.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2015-10-16 12:49:48 -0500 )edit

You can use http://wiki.ros.org/rostopic to see if data is coming out of /scan.

William gravatar image William  ( 2015-10-16 12:50:35 -0500 )edit

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answered 2015-10-16 16:28:36 -0500

Pandaii gravatar image

updated 2015-10-16 17:37:36 -0500

Ok, rqt->nodes showed me that depthimage_to_laserscan wasn't subscribing to any topic. The solution is to remap the topic it subscribes to.

<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" > 
  <remap from="image" to="/camera/depth/image_raw"/>
</node>
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Asked: 2015-10-16 11:36:29 -0500

Seen: 927 times

Last updated: Oct 16 '15