Turtlebot Gazebo registered_depth

asked 2016-04-01 08:32:53 -0500

Sandro gravatar image

Hello! I'm new to ROS. I installed turtlebot simulator and can use it. When i run "roslaunch turtlebot_gazebo turtlebot_world.launch" I get these errors, but it works anyway:

Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov] Error [Param.cc:181] Unable to set value [0,100000001] for key[near] Error [SDF.cc:788] Missing element description for [pointCloudCutoffMax]

I tried to get informations about topic registered_depth/image_raw and I saw that it's not implemented. So i'm trying to use the nodelet "depth_image_proc/register" to get "depth_registered/image_rect", but it returns nothing. I saw also that under the topic: "/camera/depth/camera_info" there is nothing and that the topic: "/camera/depth/image_rect" doesn't exists.

This is how i modified the file "turtlebot_world.launch"

<launch> <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

<arg name="base" value="$(optenv TURTLEBOT_BASE kobuki)"/> <arg name="battery" value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/> <arg name="gui" default="true"/> <arg name="stacks" value="$(optenv TURTLEBOT_STACKS hexagons)"/> <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="use_sim_time" value="true"/> <arg name="debug" value="false"/> <arg name="gui" value="$(arg gui)"/> <arg name="world_name" value="$(arg world_file)"/> </include>

<include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml"> <arg name="base" value="$(arg base)"/> <arg name="stacks" value="$(arg stacks)"/> <arg name="3d_sensor" value="$(arg 3d_sensor)"/> </include>

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> </node>

<node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/> <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager"> <remap from="image" to="/camera/depth/image_raw"/> <remap from="scan" to="/scan"/> </node>

<node pkg="nodelet" type="nodelet" name="depth_registered_image_nodelet_manager" args="manager"/> <node pkg="nodelet" type="nodelet" name="depth_image_proc" args="load depth_image_proc/register depth_registered_image_nodelet_manager --no-bond"> <remap from="depth_registered/image_rect" to="camera/depth_registered/image_raw"/> </node> </launch>

Thanks in advance to anyone can help me!!

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Hi, have you managed to figure out something?

NLZ gravatar image NLZ  ( 2016-04-23 05:51:14 -0500 )edit