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simulating kinect sensor in Gazebo

asked 2011-04-21 00:00:53 -0500

Stefan gravatar image

updated 2016-10-24 09:01:53 -0500

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 -0500

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 http://www.ros.org/doc/api/gazebo_plugins/html/group__GazeboRosBlockLaser.html. I added such a block laser to a erratic_robot for testing, the working xacro macro I used is here: http://pastebin.com/F5Jamf78 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:

http://answers.ros.org/question/715/how-can-i-speed-up-simulation-in-gazebo In the long answer there, Kevin Watts talks about changes to Gazebo for efficiently making depth camera data available.

http://ros-users.122217.n3.nabble.com/Simulating-RGB-D-sensors-in-Gazebo-td2518418.html 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 imagemalharjajoo ( 2018-01-31 23:07:14 -0500 )edit

Also, the first link is broken.

malharjajoo gravatar imagemalharjajoo ( 2018-01-31 23:19:47 -0500 )edit
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answered 2011-04-23 08:26:57 -0500

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 -0500

Seen: 3,999 times

Last updated: Apr 23 '11