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simulated turtlebot kinect data

asked 2012-02-26 22:26:46 -0500

updated 2016-10-24 09:01:29 -0500

ngrennan gravatar image


Is it possible to get simulated raw image or create Point Cloud in Rviz with simulated Kinect and simulated Turtlebot "out of the box"? Because I can only get laser data posted on /scan topic. I tried to build Point Cloud but there is no published topic to do that. Is that even possible in simulated environment or do I have to reroute some of the data to other topic.

I'm using Ubuntu 11.10 and Electric.

I would really appreciate any tips because I'm new to ROS :)

Thank you.

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answered 2012-02-28 10:47:53 -0500

mmwise gravatar image

This is a bug in the gazebo.urdf.xacro file. The camera frame names were not correct and therefore the gazebo plugins couldn't initialize properly. It's fixed in 330:4253a4e5f257 . I'll push out a release today with the fix, turtlebot 0.9.2

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It worked fine for me before i updated my packages recently. I started using real turtle n hence couldn't notice this issue. Anyways thanks for the update :)

karthik gravatar image karthik  ( 2012-02-28 10:50:46 -0500 )edit

I've done this as well previously, although I may have done an update since then. In that test I added a table to the world and viewed the pointcloud in rviz.

SL Remy gravatar image SL Remy  ( 2012-02-29 15:08:20 -0500 )edit

Ya i have performed mapping n ran navigation stack also in a office environment that i created.

karthik gravatar image karthik  ( 2012-02-29 18:48:48 -0500 )edit

answered 2012-02-28 08:27:50 -0500

karthik gravatar image

Hi, It is possible to get the simulated kinect data for the turtlebot. I have used the kinect simulation in gazebo and was able to view the kinect pointclouds in rviz. I request you to run the below

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

In turtlebot_gazebo, the kinect is launched automatically with the robot.launch which is launched inside the above launch file.

Once this is up, you can see the cloud in the rviz when you subscribe to the right topic.

Hope this helps!!!

Thanks, Karthik

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Is this working for you right now, because no PointCloud2 data is advertised/published for me?

John Hoare gravatar image John Hoare  ( 2012-02-28 08:44:09 -0500 )edit

For me this is not working. I see no topics published by Kinect. Did you check it? Is it working for you now? The only topic that gives any useful data is /scan which as I know is made from PointCloud data from Kinect. But I can't figure out why there is no PointCloud topic published.

Grega Pusnik gravatar image Grega Pusnik  ( 2012-02-28 10:06:33 -0500 )edit

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Asked: 2012-02-26 22:26:46 -0500

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Last updated: Feb 28 '12