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I am using turtlebot 2 with astra pro sensor on ubuntu 14 with ros indigo. when i run
$rosrun depthimage_to_laserscan depthimage_to_laserscan image:=camera/depth/image_raw
i get no response or any output window, whereas i can easily get rgb, ir and depth images using rosrun commands. can anybody help if there is needed some extra configuration in order to make it work?
depthimage_to_laserscan takes a depth image (sensor_msgs/Image), converts it to a Laserscan (sensor_msgs/LaserScan) and publishes it. No "output window" is created.
By default the LaserScan is published on the /scan topic.
You can check it exists with rostopic list | grep "/scan"
To visualize it, the most common would be to add a LaserScan plugin in RViz and select the /scan topic.
If this doesn't answer your question, can you please edit it to provide more information:
is it necessary to run rosrun depthimage_to_laserscan command in order to publish laser scan data? or it is by default available when ros astra is running. and how can i check the values of sensor_msgs/Image? is there any command to get this value? i want to check whether it is receiving data or not?
i have run this command $rostopic list | grep "/scan" and i got this message "/scan" and when i run command $rostopic echo /scan , i get following message "header: seq: 45722 stamp: secs: 1580386854 nsecs: 953619949 frame_id: camera_depth_frame angle_min: -0.51137316227 angle_max: 0.483443826437 angle_increment: 0.00155683408957 time_increment: 0.0 scan_time: 0.0329999998212 range_min: 0.449999988079 range_max: 10.0 ranges: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, ] intensities: " is it working, i don't know.
problem solved. Thanks for all your support. I have plotted the data received from /scan topic on MATLAB. I am using it for obstacle avoidance and navigation. The main reason that i was not receiving the scan topic data for astra pro 3d sensor is that i was missing the command $rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw for astra.
Asked: 2020-01-30 01:27:10 -0500
Seen: 556 times
Last updated: Jan 30 '20
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