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I am using ubuntu 16.04 and kinetic. I want to construct a 3D map from Gazebo by using 3D SLAM (RGB-D Sensors by using) and turtlebot2 in simulation (i don't have the real turtlebot2 and the camera). I really need some help. all tutorials use a real camera but I want to use the simulated turtlebot camera.
I am basing my answer on this turtlebot repo and this RGBDSLAMv2 repo.
All you need to do is to subscribe to the rgb and depth images topics output from the kinect and add them to the launch file. On the turtlebot2, the rgb topic rgb/image_raw is and depth topic is depth/image_raw. You can now use the sample launch file provided by the package and change the topic names to the values mentioned above.
Asked: 2021-11-18 13:13:24 -0500
Seen: 136 times
Last updated: Nov 20 '21
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If you have the robot up and running in gazebo, you can subscribe to the camera topic in your SLAM node and it will work similar to on a real robot. Whch turtlebot and SLAM algorithm are you working with?
@3473f, How? Would you please help me?
Do you have your simulation up an running with the rgb-d camera mounted to the robot?
@3473f, I did get the turtlebot2 simulation on Gazebo and Ruiz. when I tried to launch RGBDSLAM packages, I couldn't coz all tutorials apply on a real bot and camera. if you could help me, i will be thankful