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Navigation by kinect, Point Cloud to Laser Scan

asked 2013-11-10 01:01:49 -0600

Wojciech gravatar image

updated 2016-10-24 09:02:47 -0600

ngrennan gravatar image


I would like to navigate a Pioneer 3DX robot by Kinect sensor. It seems, that the simplest way to accomplish my goal is to convert PointCloud msgs to LaserScan msgs. I've launched 3dsensor.launch from turtlebot_bringup package to do the conversion. (ROS - Hydro, Ubuntu 13.10)

1) The problem is, 3dsensor.launch publishes no msgs on /scan topic.

2) What should I do next to accomplish navigation and get around obstacles?

Thank you in advance.

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which version of ROS are you using ?

sudhanshu_mittal gravatar image sudhanshu_mittal  ( 2013-11-10 04:44:48 -0600 )edit

ROS - Hydro, Ubuntu 13.10

Wojciech gravatar image Wojciech  ( 2013-11-10 04:48:26 -0600 )edit

did you check your rostopic list after running the launch file ? Does it show "/scan" topic ?

sudhanshu_mittal gravatar image sudhanshu_mittal  ( 2013-11-10 04:52:22 -0600 )edit

Yes, but echo /scan is empty. I think the problem is, subscribes topics: /image & /camera_info, but openni_launch publishes msgs on /camera/rgb/camera_color & /camera/rgb/camera_info.

Wojciech gravatar image Wojciech  ( 2013-11-10 06:16:55 -0600 )edit

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answered 2013-11-10 03:48:15 -0600

There seems to be a pointcloud_to_laserscan stack. Haven't used it myself, but might be worth a try.

Best regards Christoph

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Yes, there is but it subscribes: /image & /camera_info, and openni_launch publish msgs on /camera/rgb/camera_color & /camera/rgb/camera_info. Is there simple way to change subscribed topics?

Wojciech gravatar image Wojciech  ( 2013-11-10 04:30:25 -0600 )edit

Use topic remapping. see for more info.

tfoote gravatar image tfoote  ( 2013-11-18 19:02:08 -0600 )edit

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Asked: 2013-11-10 01:01:49 -0600

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Last updated: Nov 10 '13