Navigation by kinect, Point Cloud to Laser Scan

Question

Hello,

I would like to navigate a Pioneer 3DX robot by Kinect sensor. It seems, that the simplest way to accomplish my goal is to convert PointCloud msgs to LaserScan msgs. I've launched 3dsensor.launch from turtlebot_bringup package to do the conversion. (ROS - Hydro, Ubuntu 13.10)

1. The problem is, 3dsensor.launch publishes no msgs on /scan topic.

2. What should I do next to accomplish navigation and get around obstacles?

Thank you in advance.

---

Originally posted by Wojciech on ROS Answers with karma: 66 on 2013-11-10

Post score: 0

---

Original comments

Comment by sudhanshu_mittal on 2013-11-10:
which version of ROS are you using ?

Comment by Wojciech on 2013-11-10:
ROS - Hydro, Ubuntu 13.10

Comment by sudhanshu_mittal on 2013-11-10:
did you check your rostopic list after running the launch file ? Does it show "/scan" topic ?

Comment by Wojciech on 2013-11-10:
Yes, but echo /scan is empty. I think the problem is, http://wiki.ros.org/depthimage_to_laserscan subscribes topics: /image & /camera_info, but openni_launch publishes msgs on /camera/rgb/camera_color & /camera/rgb/camera_info.

Answer 1

There seems to be a pointcloud_to_laserscan stack. Haven't used it myself, but might be worth a try.

Best regards Christoph

---

Originally posted by Christoph with karma: 96 on 2013-11-10

This answer was ACCEPTED on the original site

Post score: 0

---

Original comments

Comment by Wojciech on 2013-11-10:
Yes, there is http://wiki.ros.org/depthimage_to_laserscan but it subscribes: /image & /camera_info, and openni_launch publish msgs on /camera/rgb/camera_color & /camera/rgb/camera_info. Is there simple way to change subscribed topics?

Comment by tfoote on 2013-11-18:
Use topic remapping. see http://wiki.ros.org/Remapping%20Arguments for more info.