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show data of simulated kinect in rviz

asked 2013-10-14 09:16:15 -0600

VahidD gravatar image

updated 2014-01-28 17:18:14 -0600

ngrennan gravatar image

Hi all,

I have a question, i used simulated huskey robot in ros, and i added a kinect on it, and huskey package has a launcher for rviz, but in rviz husky hasn't kinect on it, please let me know what should i do? how can i add simulated kinect that is on robot also to rviz and getting data of it in rviz?! Thank you.

for adding kinect to base.urdf.xacro of huskey i used these tags:

  <gazebo>
<include>
        <uri>model://kinect</uri>
        <pose>0.25 0 0.42 0 0 0</pose>
      </include>
      <joint name="centercam" type="revolute">
        <child>kinect::link</child>
        <parent>base_footprint</parent>
        <axis>
          <xyz>1 1 1</xyz>
          <limit>
            <upper>0</upper>
            <lower>0</lower>
          </limit>
        </axis>
      </joint>
</gazebo>
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answered 2013-10-16 02:11:32 -0600

davinci gravatar image

Did you add the kinect to the urdf? Than it should be visible on the robot model. The data you can view by adding an Pointcloud viewer in Rviz and point it to the appropriate topic.

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thank you man, i added kinect as you can see in main question to base.urdf.xacro for huskey robot. but in rviz i son't have any thing about it, i think it's because i used gazebo tag, i am not sure, can you help me?!!!

VahidD gravatar imageVahidD ( 2013-10-16 06:41:47 -0600 )edit

It really depends on your gazebo version which one works, which version do you run? Try some different Kinect implementations in gazebo.

davinci gravatar imagedavinci ( 2013-10-16 23:08:58 -0600 )edit

Thank you again, my Ros is hydro and gazebo is 1.9.

VahidD gravatar imageVahidD ( 2013-10-16 23:10:50 -0600 )edit

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Asked: 2013-10-14 09:16:15 -0600

Seen: 693 times

Last updated: Oct 16 '13