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kineckt is not available in my rostopic list!!!

asked 2013-10-12 10:29:01 -0500

Vahid gravatar image

Hi all,

I installed Ros hydro along with Gazebo package(1.9) for Ros in ubuntu 12.04, i run gazebo with this command

rosrun gazebo_ros gazebo

and i add sensors like Hokyuo and kineckt, i can't see the topic of them in rostopic list, i know that i should add plugin for them but at first i don't know the format and specified plugin for them and after that i am not sure about the place that i should add plugin, my mean is, should i add plugin tag in SDF file of this sensors or other place? please if it is possible write the complete plugin tag for these sensors especially kineckt, I tried many times but those don't work!!!!

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answered 2013-10-14 05:34:31 -0500

psei gravatar image

Hi, before you can see/access any topics for sensors in gazebo, you need to load the corresponding plugin.

I actually do not have an SDF-version, but my URDF file for the kinect looks like this. (I assume that you already have a link and a joint for the sensor, e.g. kinect)

<!-- SENSOR -->
<gazebo reference="openni_camera_link">
    <sensor type="depth" name="openni_camera">      

        <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
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thank you so much my friend, it works ;) i have another question, as i know kinect returns us depth, ir data and image, now i have these topic, but there is just ir and depth topic, how can i get image of kinect? maybe i am wrong!

Vahid gravatar imageVahid ( 2013-10-14 09:16:10 -0500 )edit

With the configuration above you should see a "/camera/rgb/image_raw" topic. This is the RGB image. As far as I can see, the simulated kinect does not have an IR-Image topic (only depth).

psei gravatar imagepsei ( 2013-10-15 05:32:34 -0500 )edit

thank you man, it works.

Vahid gravatar imageVahid ( 2013-10-22 13:15:59 -0500 )edit
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Asked: 2013-10-12 10:29:01 -0500

Seen: 1,089 times

Last updated: Oct 14 '13