Launching openni directly bound ROS packages in Gazebo
I want to use some ROS packages (eg. openni_tracker) which do rely on OpenNI framework rather than on ROS topics published by the simulated Kinect in Gazebo. Is there any workaround to get these packages working in Gazebo?
In attempt to launch such OpenNI framework bound packages following error pops up.
InitFromXml failed: Can't create any node of the requested type!
Then I tried to launch the OpenNI with rosrun openni_launch openni.launch
That hits with following error messages.
No devices connected.... waiting for devices to be connected
Asked by Kalana on 2014-07-28 23:18:26 UTC
Answers
Spawn a model that implements Openni Kinect ROS plugin, which publishes the topics defined in the associated SDF. Then you'll be able to run your camera driver node even without the real device not connected to your computer.
Concrete example of SDF file can be found in turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro.
Asked by yah130s on 2017-04-28 21:42:05 UTC
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