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ROS transform Turtlebot Kinect coordinates to gmapping world coordinates

asked 2012-05-17 08:58:22 -0500

ZeroCool gravatar image

updated 2016-10-24 09:00:37 -0500

ngrennan gravatar image

Hello,

We are using gmapping to build our world. And we get the (x, y, z) coordinates from Kinect (PointCloud) by subscribing to the topic /camera/depth_registered/points.

We get the position of our Turtlebot by subscribing to the topic /move_base/feedback. The question is, if we get the Kinect (PointCloud) coordinates from a certain object, how do we tell the robot to go there? We know that you need to send a message to the topic /move_base_simple/goal, but how do we transform the coordinates from Kinect into "world coordinates" (the world that was build by using gmapping).

There is a similar problem in this topic - http://answers.ros.org/question/9506/how-to-transform-a-point-cloud-from-camera but I don't know what is the destination frame and how to use it?

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answered 2012-05-17 10:59:47 -0500

Eric Perko gravatar image

Have you read through the tf documentation ( http://ros.org/wiki/tf ), specifically the tutorials ( http://ros.org/wiki/tf/Tutorials )?

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Asked: 2012-05-17 08:58:22 -0500

Seen: 1,005 times

Last updated: May 17 '12