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How to use depth_image_proc

I am running gazebo 7, ubuntu 16.04, ROS kinetic.

I've attached a kinect depth camera to the end effector of a UR5. I want to be able to take the data from image_raw and convert it into readable distances.

I've read that depth_image_proc can do this, but i'm not sure how to use it.

If anyone could provide a tutorial or any information that would inform me of how to use depth_image_proc from scratch, that would be greatly appreciated.