0
$\begingroup$

Rosanswers logo

Hi,

the title speaks for itself, what I've done so far is creating this launchfile, which seems to do everything right - at least "rostopic echo /scan" echos something.

<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="/openni_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

Furthermore I followed the instructions to create fake odometry data. found here

This also seems to work....so I tried this, but all I get is "Waiting for map".

Please feel free to ask for further information, if needed.


Originally posted by Flowers on ROS Answers with karma: 342 on 2012-09-12

Post score: 0

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

Give this a try. You don't need odometry for it.


Originally posted by allenh1 with karma: 3055 on 2012-09-12

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Flowers on 2012-09-13:
Maybe I should have mentioned that: The fake odometry data are just needed for tests - the robot I want to use publishes odometry data. Any ideas why my solution does not work? thx

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.