ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
This launch file might help
<launch>
<!-- kinect and frame ids -->
<include file="$(find openni_launch)/launch/openni.launch"/>
<!-- openni_manager -->
<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
<!-- throttling -->
<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
<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_manager">
<param name="output_frame_id" value="/camera_depth_frame"/>
<remap from="cloud" to="cloud_throttled"/>
</node>
</launch>
You might have an easier time (and use less CPU) if you use depthimage_to_laserscan.
roslaunch openni_launch openni.launch rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
By running the node and publishing your clouds to the cloud topic. The scans will be published on the scan topic.
Asked: 2013-02-09 22:57:27 -0500
Seen: 999 times
Last updated: Feb 11 '13
Depends on what you want to do with it - what exactly are you trying to do?
@allenh1, I want to run SLAM and I've installed openni_camera and openni_launch till now, I want to install pcl_to_laserscan and then install either gmapping or hectorSLAM.