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Getting Start with Kinect and ROS

asked 2016-09-12 19:11:22 -0500

cflavs gravatar image

Hi all,

I want to use a Gazebo world and a robot with a kinect on it where I can identiy objects of this world. I'm thinking on getting the kinect RGB images and process, but I'm a little confuse about how to simulate the kinect on gazebo and parse the image data to ROS, so I was thinking if any of you doesn't have some quick start or tutorials to give me (even some tips), I know normally OpenNI and PCL are used, but I don't know exactly how to use them with ROS and Gazebo together. I searched at ROS forum but related questions normally was closed as a Gazebo question, so I thought maybe here was the best place to discuss it.

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I'm also looking for a similar solution, have you got any clues yet?

kerem gravatar imagekerem ( 2016-10-07 15:21:43 -0500 )edit

2 Answers

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answered 2016-12-19 08:34:12 -0500

hari1234 gravatar image

updated 2016-12-19 08:37:10 -0500

Just add this lines in ur sdf file with a model and launch it, than after this u can run rostopic echo in another terminal to see the published topics, it will exactly work like real kinect sensor, but if u want to make it more realistic u need to add some noise in it.

 <!-- camera -->
  <gazebo reference="camera_link">
    <sensor type="depth" name="camera1">

             <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">

U have to define link, collision element and visual element to represent the kinect sensor and add this sensor plugin before </link> i.r ur model or link which u want to see as a kinect sensor.

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I get this particular error message when copy pasted this code inside the link tag. XML Element[gazebo], child of element[link] not defined in SDF. Ignoring[gazebo]. Any suggestions on why this could be happening? Thanks in advance. EDIT: Solved the problem. Gazebo tag is used for URDF files not for SDF files.

aadityacr7 gravatar imageaadityacr7 ( 2018-05-01 14:22:41 -0500 )edit

answered 2016-12-17 22:20:02 -0500

nkoenig gravatar image

Take a look at the gazebo tutorials.

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Asked: 2016-09-12 19:11:22 -0500

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Last updated: Dec 19 '16