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Try using this launchfile. I think I'm trying to achieve similar things you are. My question here.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- Kinect -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>
</launch>

Try using this launchfile. I think I'm trying to achieve similar things you are. My question here.. I'm assuming you have openni_kinect and pointcloud_to_laserscan installed.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- Kinect -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>
</launch>

Try using this launchfile. launchfile (add it to pointcloud_to_laserscan/launch, I called it openni_laser.launch). I think I'm trying to achieve similar things you are. My question here. I'm assuming you have openni_kinect and pointcloud_to_laserscan installed.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- Kinect -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>
</launch>

Try using this launchfile (add it to pointcloud_to_laserscan/launch, pointcloud_to_laserscan/launch, I called it openni_laser.launch). I think I'm trying to achieve similar things you are. My question here. I'm assuming you have openni_kinect installed.openni_kinect installed. The fake laserscans will be published in the /scan topic, you can see them in rviz.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- Kinect -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>
</launch>

Try using this launchfile (add it to pointcloud_to_laserscan/launch, I called it openni_laser.launch). I think I'm trying to achieve similar things you are. My question here. I'm assuming you have openni_kinect installed. The fake laserscans will be published in the /scan topic, you can see them in rviz.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- Kinect openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>
</launch>

Try using this launchfile (add it to pointcloud_to_laserscan/launch, I called it openni_laser.launch). I think I'm trying to achieve similar things you are. My question here. I'm assuming you have openni_kinect installed. The fake laserscans will be published in the /scan topic, you can see them in rviz.

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_camera">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_camera">
    <param name="output_frame_id" value="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>