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simulating kinect sensor in Gazebo

asked 2011-04-21 00:00:53 -0600

Stefan gravatar image

updated 2016-10-24 09:01:53 -0600

ngrennan gravatar image

I want to use the input from a kinect in simulation. I use ROS and therefor I think the best way is to use gazebo for simulation. Is there a way to simulate the kinect input data in gazebo?

Thanks for help

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answered 2011-04-21 06:57:25 -0600

There is a Gazebo BlockLaser plugin which is able to simulate point cloud producing sensors (but there's no RGB value per point available easily AFAIK). See I added such a block laser to a erratic_robot for testing, the working xacro macro I used is here: Note that I had to make quite a few changes to how it was used in the API doc to make it work. Also note that it's performance isn't too good, so simulating a 640x480 point cloud or such will probably result in a severe slow down.

Luckily, there's work in progress regarding this topic, for some info see: In the long answer there, Kevin Watts talks about changes to Gazebo for efficiently making depth camera data available. Basically same topic as this thread, only on the mailing list. There's also a link to the related ticket on trac.

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Hi, nice answer. you say the performance isn't too good, but what about the point cloud ? Is it accurate ?

malharjajoo gravatar image malharjajoo  ( 2018-01-31 23:07:14 -0600 )edit

Also, the first link is broken.

malharjajoo gravatar image malharjajoo  ( 2018-01-31 23:19:47 -0600 )edit

answered 2011-04-23 08:26:57 -0600

watts gravatar image

If you use the SVN branch for "kt2_simulator" (referenced above by Stefan), you can use the "gazebo_ros_wge100" plugin to simulate an RGBD camera. You can look in the package "kt2_pr2_defs" for information on how to configure a URDF/Gazebo model entry for the camera. The camera will publish camera info, images, disparity, and points2.

The changes in that branch will be merged in to trunk soon. I don't think the gazebo_ros_wge100 camera plugin follows the same topic name conventions as a Kinect, but it should be easy to solve by remapping.

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Asked: 2011-04-21 00:00:53 -0600

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Last updated: Apr 23 '11