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How to handle the kinect camera's vertical movement while using amcl?

asked 2011-04-11 05:52:52 -0600

Murph gravatar image

updated 2016-10-24 09:09:45 -0600

ngrennan gravatar image

According to the amcl page:

An implementation detail: on receipt of the first laser scan, amcl looks up the transform between the laser's frame and the base frame (~base_frame_id), and latches it forever. So amcl cannot handle a laser that moves with respect to the base.

Since the kinect camera has a motor that moves it up and down, would this cause a problem? Is there an accepted way yo deal with this? Should I just modify the pointcloud_to_laserscan node to somehow compensate for it?

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answered 2011-04-11 13:59:35 -0600

Bart gravatar image

My solution (with help) for a tilting Kinect laserscan was to develop a nodelet that transforms the pointcloud referenced to base_link (or base_footprint) and then converts it to a laserscan using the full robot height as the elevation filter. This is all documented in the "pointcloud to laserscan with transform?" question. Search Kinect or turtlebot tags.

Now I am working on panning the Kinect to produce a full 180 degree laserscan, as the 60 degree field of view of the Kinect is limiting for AMCL and map making. Both of these depend on a functional tf tree that includes the Kinect pan/tilt mechanism and is updated from the hardware interface program.

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Asked: 2011-04-11 05:52:52 -0600

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Last updated: Apr 11 '11