openni kinect depth_registered

asked 2018-04-19 20:05:27 -0500

lr101095 gravatar image

running ros kinetic, ubunto 16.04, gazebo 7.

trying to use an openni kinect on gazebo. i need to subscribe, or at least echo depth_registered but it isn't even publishing. does anyone have any idea on how to to access depth_registered while in simulation? rqt_reconfigure doesn't give me the option (as suggested here http://wiki.ros.org/openni_launch#Reg...).

did i miss anything on the installation? any advice is much appreciated. i will provide more info if need be

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How have you included the camera in gazebo? Please provide the config files for the camera. It should be something like this: https://github.com/rosbook/effective_robotics_programming_with_ros/blob/master/chapter7_tutorials/rosbook_arm_description/urdf/sensors/xtion_pro_live.gazebo.xacro . In that file, one provides the names of the topics that data will be published to. You can see if they're being published using `rostopic echo <topic name="">` and `rostopic list` when running the node.

shreeyak gravatar imageshreeyak ( 2018-04-23 10:48:50 -0500 )edit

I believe the link you shared is for actual hardware devices and not cameras in simulation. Use the link I shared above as a reference. Lemme know here if you have any further doubts, I'll add an answer.

shreeyak gravatar imageshreeyak ( 2018-04-23 10:50:01 -0500 )edit

@shreeyak can you explain why there are two sets of camera parameters? it seems that they've set parameters for rgb and depth separately. why is it so? is there a benefit to doing this?

lr101095 gravatar imagelr101095 ( 2018-04-23 19:30:01 -0500 )edit

have you figured it out ? I have the same problem

tiberium24 gravatar imagetiberium24 ( 2018-06-24 19:33:47 -0500 )edit