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How to change turtlebot gazebo FOV and make it 270 degree?

asked 2016-04-22 00:19:21 -0500

Sean81 gravatar image

Hi! I am trying to change the settings of turtlebot simulation, so I can get a better gmapping result. But I can't find a better way to change FOV of kinect. Any help is much appreciated.

I went to the turtlebot_description folder and find the urdf file of turtlebot_gazebo.urdf.xarco. I modified the following code. <camera> <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov> </camera>

I edited horizontal_fov to change its FOV. If I change it like {160.0M_PI/180.0}, the result of gmapping can be shown on rviz tool; but if I change horizontal_fov to more than {180.0M_PI/180.0}, the gmapping result will not be shown.

I have been looking everywhere but I can't find where I can remove the restriction and make simulated Kinect have a FOV of 270 degree. I wonder if there is a solution?

Thank you very much for helping.

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answered 2016-04-22 01:24:16 -0500

The simulated kinect uses a pinhole camera model. This model only works for FOVs below 180 degree, so there is no way you can over 180 without some major refactoring. There is a wide angle camera available for Gazebo (see this tutorial), but making this work for depth images might be significant implementation effort.

You're probably better off just mounting a simulated LIDAR to your Turtlebot.

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Thank you!!! I will try to use a simulated laser scanner.

Sean81 gravatar image Sean81  ( 2016-04-22 01:58:37 -0500 )edit

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Asked: 2016-04-22 00:19:21 -0500

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Last updated: Apr 22 '16