Make Turtlebot Bringup Works with Kinect v2

asked 2018-03-19 08:06:19 -0500

Bob gravatar image


I would like to make a Turtlebot simulation works with Kinect V2. I was following this tutorial ( ).

I did the following attempt:

Kinect2 works with the driver freenect2 and can be communicated with ROS using the package iai_kinect2/kinect2_bridge.

I modified the turtlebot_bringup/launch/includes/3dsensor/kinect.launch.xml by chaning the driver include file to launch file for kinect2_bridge, and delete the arguments that are not used by kinect2_bridge. Here is the modified 3dsensor/kinect.launch.xml:


  <!-- "camera" should uniquely identify the device. All topics are pushed down
       into the "camera" namespace, and it is prepended to tf frame ids. -->
  <arg name="publish_tf"  default="false"/>

  <!-- Processing Modules -->                                    

  <!-- <include file="$(find freenect_launch)/launch/freenect.launch">  --> 
<include file="/home/user_name/catkin_ws/src/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch">                           
    <arg name="publish_tf"                      value="$(arg publish_tf)"/>                                          

    <!-- Processing Modules -->

However, when I call up the turtlebot_bringup, I get this error:

unused args [num_worker_threads, rgb_processing, depth_registration, camera, depth_processing,

ir_processing, disparity_processing, disparity_registered_processing, depth_registered_processing]
 for include of [/opt/ros/kinetic/share/turtlebot_bringup/launch/includes/3dsensor/kinect.launch.xml]

I don't understand this error, since I already deleted those arguments that are not used by the kinect2_bridge.launch, but I still get the above error.

Does anyone knows how to solve this problem?

Please let me know if I did not provide enough infomation!

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