Revision history [back]

I was able to get this to work with the Kinect using your new tutorial. (WAY COOL). But I fear it's accuracy is suffering due to the lower details of the kinect vs a real scanning laser. Maybe somebody can find a way to improve on it, but for others that want to give it a try, here is what I did. Due to needing time for the openni_node to startup I had to break the launch file into two files. After the first launch file I run rosrun image_view image_view image:=/camera/rgb/image_color to make sure I have a live feed coming from the kinect.

Launch file 1: <launch> <include file="$(find openni_camera)/launch/openni_node.launch"/>

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

<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager"> <remap from="cloud_in" to="/camera/depth/points"/> <remap from="cloud_out" to="cloud_throttled"/> </node>

<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager"> <remap from="cloud" to="cloud_throttled"/> </node>

</launch>

Launch file #2: (again double check you can see the image from the kinect before running this with steps noted above)

<launch>

<node pkg="tf" type="static_transform_publisher" name="map_2_base_link" args="0 0 0 0 0 0 /map /base_stabilized 100"/> <node pkg="tf" type="static_transform_publisher" name="base_2_base_stablized_link" args="0 0 0 0 0 0 /base_stabilized /base_frame 100"/> <node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /openni_camera 100"/> <node pkg="tf" type="static_transform_publisher" name="base_2_nav_link" args="0 0 0 0 0 0 /base_frame /nav 100"/>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

<include file="$(find hector_mapping)/launch/mapping_default.launch"/> <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>

</launch>