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My realsense d435 camera works in ros for certain things, but it is unable to do gmapping because no data is being received in /scan topic, there fore, the depthimage_to_laserscan nodelet will not activate. What could be the possible reasons for this?
I have not used the gmapping package. However, looking at the wiki page, it seems that it requires sensor_msgs/LaserScan type of data. The Intel RealSense D435 does not produce such type of data. While looking at the depthimage_to_laserscan package, which takes a depth image and generates a 2D laser scan, we should be able to run gmapping. You need to subscribe to the following topics:
The DepthImageToLaserScanNodelet nodelet will publish on scan topic which should be the input for gmapping package.
I do not have D435 at hand right now, therefore the image and camera_info topics may be incorrect. Please check them from terminal.
@Ravi Joshi " depthimage_to_laserscan uses lazy subscribing and will not subscribe to image or camera_info until there is a subscriber for scan.", there is no data being recieved by scan topic, that is the main issue, the nodelet will not activate until that happens
@Ravi Joshi, I simply don't know if it's as simple as that, literally just launching a node that is a subscriber that accepts scan message types doesn't seem like the solution.
Asked: 2022-08-06 19:14:34 -0500
Seen: 110 times
Last updated: Aug 07 '22
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