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How to create a map data for navigation stack using kinect

asked 2012-06-24 23:29:16 -0600

moyashi gravatar image

updated 2014-01-28 17:12:48 -0600

ngrennan gravatar image

I'd like to ask that 1) how to use pointcloud_to_laserscan 2) Can rgbdslam package be used for creating a map for navigation stack?

I'd like to create a map data with kinect sensor for navigation. I've already read some tutorials and found that I have to use not cloud data but laser scan data.

pointcloud_to_laserscan can convert data, but the usage is not described in the wiki. Could you teach me how to use it?

And I found that rgbdslam can create a map using kinect. Is this package able to generate a map for navigation stack?

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prince gravatar image prince  ( 2012-06-25 00:00:25 -0600 )edit

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answered 2015-03-23 12:57:57 -0600

TimboInSpace gravatar image

RGBDSlam is the best choice if you have both the rgb and depth stream, but Depthimage_to_laserscan is better if you only have the depth data (my project is like this). Depthimage_to_laserscan requires two things, the depth image topic and the camera_info topic (see monocular camera calibration tutorials). You'll also need to set up a coordinate frame to reference the kinect to. For example, with my stationary kinect 360, I use these:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map camera_depth_frame 20

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect/mono16/image_raw camera_info:=/kinect/mono16/camera_info _scan_height:=20 _scan_time:=0.167 _range_min:=0.75 _range_max:=2.5

You'd probably want to use a larger scan height if possible, but my slow little raspberry pi cannot handle much more than 640x40 at 6fps, so im limited in height.

After that, you'll see a new /scan topic. Use that in place of a laser scanner as described in the navigation stack tutorials:

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Asked: 2012-06-24 23:29:16 -0600

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Last updated: Mar 23 '15