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Simulating the Kinect Output using a world

asked 2012-05-02 21:54:48 -0600

updated 2016-10-24 09:00:06 -0600

ngrennan gravatar image

Lets say I start turtlebot up in the willow garage world as shown in: http://answers.ros.org/question/12956/running-turtlebot-simulator-in-willow-garage-world

Is there a way to simulate the Kinect PointCloud data that world would produce, so I can see it in rviz?

Best Regards,

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answered 2012-05-03 00:00:55 -0600

karthik gravatar image

updated 2012-05-03 00:17:45 -0600

Hi, Yes you can see that Kinect cloud in the rviz. But this will only be the depth cloud and rgb cloud will not be present.

First run the gazebo using

roslaunch gazebo_worlds <your_world>.launch

Then launch the turtlebot_gazebo using

roslaunch turtlebot_gazebo robot.launch

Now try visualizing the same on rviz

rosrun rviz rviz

You can see both images and pointclouds published by the simulated kinect in rviz. Make sure your world has some objects to be scanned by the kinect.

Hope it helps,

Karthik

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Asked: 2012-05-02 21:54:48 -0600

Seen: 250 times

Last updated: May 03 '12