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Using ROS publish kinect RGB and depth data

asked 2013-06-17 04:01:06 -0600

longzhixi123 gravatar image

updated 2016-10-24 09:00:07 -0600

ngrennan gravatar image

Hello everyone, my desktop is ubuntu 11.10 ROS Fuerte version. My turtlebot is ROS Electric version. I want to use turtlebot get kinect combined RGB and depth data. The data was then sent via wireless to my desktop to RGBDSLAM provide data. Do you have any good ideas? Thank you.

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Can you post more information about what you've tried so far, and what's not working for you?

lindzey gravatar imagelindzey ( 2013-06-19 15:57:35 -0600 )edit

Now I can get color map and depth map on the kinect on turtlebot. But do not know how to make this information in rosbag, I would like to send this rosbag, then desktop RGBDSLAM get this rosbag, three-dimensional environment to finalize the composition.

longzhixi123 gravatar imagelongzhixi123 ( 2013-07-02 15:15:40 -0600 )edit

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answered 2013-07-08 02:45:04 -0600

try

rosbag record /tf /camera/depth/image_rect /camera/depth/camera_info /camera/rgb/camera_info /camera/rgb/image_rect_color

Don't forget to use these topics in your launchfile for rgbdslam (and set config/topic_points to an empty string), e.g.:

<launch>
  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="log"> 
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/camera/rgb/image_rect_color"/> <!--could also be color -->
    <param name="config/topic_image_depth"             value="/camera/depth/image_rect"/>
    <param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

    <param name="config/feature_detector_type"         value="SURF"/>
    <param name="config/feature_extractor_type"        value="SURF"/>
    <param name="config/max_keypoints"                 value="600"/>
  </node>
</launch>
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Asked: 2013-06-17 04:01:06 -0600

Seen: 1,119 times

Last updated: Jul 08 '13