How to start Kinect Laser data in Turtlebot without gmapping

edit

http://www.ros.org/wiki/depthimage_to_laserscan#depthimage_to_laserscan-1

roslaunch turtlebot_bringup 3dsensor.launch

rostopic echo /scan

See the launch file here: https://github.com/turtlebot/turtlebot/blob/master/turtlebot_bringup/launch/3dsensor.launch#L79

Or if you have the kinect up but not the laser, you can try:

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

http://www.ros.org/wiki/depthimage_to_laserscan#depthimage_to_laserscan-1

Hi,

For this you need to use PointCloud to LaserScan package. It comes with turtlebot stack. You need to create a launch file say kinect_laser.launch with below nodes:

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_launch)/launch/openni.launch"/>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

This will publish /scan topic without the need for gmapping. And then you can use this launch file in your slam.launch.

Hope this helps !!

P.S. Please make sure the name of openni launch file.. In my case it's present as mentioned in the above location.

Hi, I find an easy way to get the Kinect Laser data.

First, create a launch file, for example,named kinect_laser.launch.

Then, open it and copy the code below in.

<launch>
  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
    <arg name="scan_topic" value="/scan" />
  </include>
</launch>

Thus, we can get the laser data from the scan topic.