How to create a 2D map with kinect sensor?

asked 2016-06-20 08:29:06 -0600

ros_beginner101
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I am a beginner in ROS. I don't have a laser so I have been trying to create map with kinect sensor. Unfortunately I haven't been able to figure out where I am going wrong. I tried using depth_image to laser_scan but to no avail, it is not converting the image to scan. I am using freenect. I can see pointcloud data from the kinect in rviz in real time and I am stuck there. Can anyone help me out with a tutorial or some points I have to follow step by step?

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answered 2016-06-22 16:21:46 -0600

ghaith
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hi I think navigation stack tutorial will help you to understand what you need http://wiki.ros.org/navigation and remember you need odometery data you can git it from encoder and imu this tutorial must help you to understand what you need to do.

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Thanks ghaith, I am reading navigation stack. Hope you don't mind if I get back to you if I stuck again.

ros_beginner101 ( 2016-06-29 02:26:54 -0600 )edit

no problem

ghaith ( 2016-06-29 10:16:23 -0600 )edit

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answered 2016-06-22 17:50:47 -0600

Fabiobreo
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Are you using a kinect v2? I use pointcloud_to_laserscan package, and I have to transform the frame from base_link to kinect2_head_ir_optical_frame to make it work. I also need to filter the pointcloud to remove noise.

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Hey Fabiobreo, sorry for the late reply. I am using xbox 360.

ros_beginner101 ( 2016-06-29 02:25:15 -0600 )edit

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How to create a 2D map with kinect sensor?

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