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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.

  <!-- 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"/>

  <!-- 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"/>

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


1 Answer 1


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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


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