Make Turtlebot Bringup Works with Kinect v2
Hi,
I would like to make a Turtlebot simulation works with Kinect V2. I was following this tutorial ( http://wiki.ros.org/rtabmap_ros/Tutor... ).
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:
`
<launch>
<!-- "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 -->
</include>
</launch>
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!