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Basic obstacle detection tutorials using Kinect

asked 2012-03-19 08:14:49 -0600

kartikrv gravatar image

updated 2016-10-24 09:10:57 -0600

ngrennan gravatar image

Hey,

My name is Kartik and being fairly new to kinect and ros, I was wondering if there were any obstacle detection samples using the kinect sensor that I could have a look at? I'm working with robots from clearpath robotics.

I'm trying to use the pointcloud2 data. I plan to follow the steps: 1) Write subscriber node to obtain data from the /camera/depth/points node 2) Process data to be able to detect obstacles based on change in depth values 3) Integrate that with some movement code to able to move/stop robot in the presence of obstacles.

Any help/guidance in this area will be much appreciated!

Thanks!

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answered 2012-03-19 10:22:39 -0600

karthik gravatar image

Hi, Basically you are talking about the navigation stack with obstacle avoidance. ROS already has a navigation stack that you can make use of. You may look into http://www.ros.org/wiki/navigation and http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM for using kinect in your navigation and mapping.

Hope it helps

Karthik

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Hi, basically I also want to do the same as @kartikrv, but I am using RObotino and Kinect. my robot has no laser sensor. Can you please suggest me how I implement ROS navigation using robotino and kinect?

rasoo gravatar imagerasoo ( 2016-09-05 12:22:52 -0600 )edit

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Asked: 2012-03-19 08:14:49 -0600

Seen: 5,391 times

Last updated: Mar 19 '12