How to convert pointcloud as well as depth image of Kinect to laser scan?
I am using Kinect to get the depth image and pointclouds. I actually want to convert either pointcloud or depth image to laserscan. I launched openni.launch file and then tried converting depth image to laser scan using: rosrun depthimage_to_laserscan depthimage_to_laserscan image:/camera/depth/image_raw. But when I subscribe to /scan topic I do not get any message being published. I tried the same with pointcloud to laser scan conversion but the problem is same. However, if I only subscribe to those topic messages without converting them to laser scan they seem to be published. I could even visualize them in Rviz. Do we need to do something more to convert the data to laserscan and get the converted data? I am using odroid to get openni data and subscribing to those topics in my virtual machine (that has Ubuntu trusty and ROS Indigo).
You did make sure that the
depthimage_to_laserscan
actually subscribes to the depth image topic, right? E.g. by looking atrqt_graph
.Actually, I had missed out a syntax in rosrun ("=" sign after image). Now, it works perfectly. Thanks.
Glad to hear.
hey! @RosUser I am trying to create laser scan data from Kinect v2. I am having trouble finding the right libraries. Can you help? http://answers.ros.org/question/25278...
@pallavbakshi The kinect I am using is version 1 which works with two libraries namely "openni-launch" and "freenect-launch". I suggest you to try running one of these libraries and see if that works. If these libraries do not work, you may want to try the library named "openni2-launch".