Comments (7)
Hi --
I created a launch file that publishes the points using depth_image_proc. Feel free to distribute with kinect2_bridge.
Stefanie
<launch>
<arg name="manager" value="kinect2_nodelet_manager" />
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="false" />
<arg name="num_worker_threads" value="4" />
</include>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_lowres"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
respawn="false">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/camera_info" to="/kinect2_head/rgb_rect/camera_info" />
<remap from="rgb/image_rect_color" to="/kinect2_head/rgb_rect/image" />
<remap from="depth_registered/image_rect" to="/kinect2_head/depth_lowres/image" />
<remap from="depth_registered/points" to="/kinect2_head/depth_lowres/points" />-->
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_highres"
args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
respawn="false">
<!-- Explicit topic remappings, shouldn't need all of these -->
<remap from="rgb/camera_info" to="/kinect2_head/rgb_rect/camera_info" />
<remap from="rgb/image_rect_color" to="/kinect2_head/rgb_rect/image" />
<remap from="depth_registered/image_rect" to="/kinect2_head/depth_highres/image" />
<remap from="depth_registered/points" to="/kinect2_head/depth_highres/points" />-->
</node>
</launch>
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This would be done with a depth_image_proc node instead
from iai_kinect2.
Gotcha, will give it a try. Thanks!
from iai_kinect2.
I added the nodes for publishing to the launch file
from iai_kinect2.
Hi,
I know that this is a closed issue, but I am looking into subscribing to the point cloud topic and am not sure if I am doing something wrong or if there is a problem. When I run the kinect2_bridge, if I do rostopic list I do not see the points topics but only the image topics for depth:
/kinect2/depth_highres/image
/kinect2/depth_highres/image/compressedDepth
/kinect2/depth_lowres/camera_info
/kinect2/depth_lowres/image
/kinect2/depth_lowres/image/compressedDepth
/kinect2/depth_rect/camera_info
/kinect2/depth_rect/image
/kinect2/depth_rect/image/compressedDepth
I am trying to use the point cloud for SLAM, but just cannot understand why it is not published. Do I neet to set some paramter for the points topics to be published, or is there something wrong?
from iai_kinect2.
Point clouds are created by image_proc. Those nodes are only started with the launch file. You have to launch the launch file instead of directly running the node.
from iai_kinect2.
Ah, thank you - though it is fairly obvious I did not think of it after
always using rosrun with kinect2_bridge.
On Sun, Mar 22, 2015 at 4:54 AM, Thiemo Wiedemeyer <[email protected]
wrote:
Point clouds are created by image_proc. Those nodes are only started with
the launch file. You have to launch the launch file instead of directly
running the node.—
Reply to this email directly or view it on GitHub
#28 (comment).
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Related Issues (20)
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- libopencv_core.so.4.5, needed by /home/jsdd/catkin_ws/devel/lib/libkinect2_registration.so, may conflict with libopencv_core.so.4.2
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- roslaunch kinect2_bridge kinect2_bridge.launch, Invalid <arg> tag
- This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation. Try the 'catkin_make_isolated' command instead.
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