Launching Kinect on PR2 Gazebo to get same topics like openni_launch?

Question

Hi all,

Information has been updated, but this documentation doesn't mention Gazebo:
http://ros.org/wiki/openni_camera
http://ros.org/wiki/openni_launch

To test a real OpenNI device, I can run:

$ roslaunch openni_launch openni.launch

which will produce all the topics listed below.

If you launch a PR2 or Turtlebot in Gazebo simulation, it only outputs the raw data. So there are no topics like:

/camera/rgb/image_color

What's the best way to launch image_proc & depth_image_proc nodelets?

Will this work?

$ roslaunch openni_launch openni.launch load_driver:=false depth_registration:=true

(I can't test anything at the moment)

Are there any plans to include this with the PR2 or Turtlebot simulators?
(turtlebot_bringup/launch/3dsensor.launch gave me some ideas, but I guess it's only for the real robot)

Thanks,
David.

Topics published from real OpenNI device:

/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth/rectify_depth/parameter_descriptions
/camera/depth/rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/disparity
/camera/depth_registered/image
/camera/depth_registered/image/compressed
/camera/depth_registered/image/compressed/parameter_descriptions
/camera/depth_registered/image/compressed/parameter_updates
/camera/depth_registered/image/compressedDepth
/camera/depth_registered/image/compressedDepth/parameter_descriptions
/camera/depth_registered/image/compressedDepth/parameter_updates
/camera/depth_registered/image/theora
/camera/depth_registered/image/theora/parameter_descriptions
/camera/depth_registered/image/theora/parameter_updates
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/image_rect
/camera/depth_registered/image_rect/compressed
/camera/depth_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/image_rect/compressedDepth
/camera/depth_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/image_rect/theora
/camera/depth_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/image_rect/theora/parameter_updates
/camera/depth_registered/image_rect_raw
/camera/depth_registered/image_rect_raw/compressed
/camera/depth_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/image_rect_raw/compressedDepth
/camera/depth_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_rect_raw/theora
/camera/depth_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/image_rect_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/depth_registered/rectify_depth/parameter_descriptions
/camera/depth_registered/rectify_depth/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressed/parameter_descriptions
/camera/ir/image_raw/compressed/parameter_updates
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/compressedDepth/parameter_descriptions
/camera/ir/image_raw/compressedDepth/parameter_updates
/camera/ir/image_raw/theora
/camera/ir/image_raw/theora/parameter_descriptions
/camera/ir/image_raw/theora/parameter_updates
/camera/ir/image_rect
/camera/ir/image_rect/compressed
/camera/ir/image_rect/compressed/parameter_descriptions
/camera/ir/image_rect/compressed/parameter_updates
/camera/ir/image_rect/compressedDepth
/camera/ir/image_rect/compressedDepth/parameter_descriptions
/camera/ir/image_rect/compressedDepth/parameter_updates
/camera/ir/image_rect/theora
/camera/ir/image_rect/theora/parameter_descriptions
/camera/ir/image_rect/theora/parameter_updates
/camera/ir/rectify_ir/parameter_descriptions
/camera/ir/rectify_ir/parameter_updates
/camera/projector/camera_info
/camera/rgb/camera_info
/camera/rgb/debayer/parameter_descriptions
/camera/rgb/debayer/parameter_updates
/camera/rgb/image_color
/camera/rgb/image_color/compressed
/camera/rgb/image_color/compressed/parameter_descriptions
/camera/rgb/image_color/compressed/parameter_updates
/camera/rgb/image_color/compressedDepth
/camera/rgb/image_color/compressedDepth/parameter_descriptions
/camera/rgb/image_color/compressedDepth/parameter_updates
/camera/rgb/image_color/theora
/camera/rgb/image_color/theora/parameter_descriptions
/camera/rgb/image_color/theora/parameter_updates
/camera/rgb/image_mono
/camera/rgb/image_mono/compressed
/camera/rgb/image_mono/compressed/parameter_descriptions
/camera/rgb/image_mono/compressed/parameter_updates
/camera/rgb/image_mono/compressedDepth
/camera/rgb/image_mono/compressedDepth/parameter_descriptions
/camera/rgb/image_mono/compressedDepth/parameter_updates
/camera/rgb/image_mono/theora
/camera/rgb/image_mono/theora/parameter_descriptions
/camera/rgb/image_mono/theora/parameter_updates
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect
/camera/rgb/image_rect/compressed
/camera/rgb/image_rect/compressed/parameter_descriptions
/camera/rgb/image_rect/compressed/parameter_updates
/camera/rgb/image_rect/compressedDepth
/camera/rgb/image_rect/compressedDepth/parameter_descriptions
/camera/rgb/image_rect/compressedDepth/parameter_updates
/camera/rgb/image_rect/theora
/camera/rgb/image_rect/theora/parameter_descriptions
/camera/rgb/image_rect/theora/parameter_updates
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera/rgb/rectify_color/parameter_descriptions
/camera/rgb/rectify_color/parameter_updates
/camera/rgb/rectify_mono/parameter_descriptions
/camera/rgb/rectify_mono/parameter_updates
/rosout
/rosout_agg
/tf

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Originally posted by dbworth on ROS Answers with karma: 1103 on 2013-01-11

Post score: 0

Answer 1

Almost; you'll also want to set the camera name argument to "head_mount_kinect", since that is what the pr2 typically uses:

roslaunch openni_launch openni.launch load_driver:=false depth_registration:=true camera:=head_mount_kinect

EDIT: That's if you're running the pr2 in gazebo. I'm not sure what camera name the turtlebot uses.

---

Originally posted by jbinney with karma: 606 on 2013-01-11

This answer was ACCEPTED on the original site

Post score: 1

---

Original comments

Comment by dbworth on 2013-01-15:
Thanks @jbinney . I also had to make a copy of the launch file and add an argument to disable the two nodelets that generate PointClouds, because the Gazebo plugin generates the PointClouds directly.

Comment by ghanimmukhtar on 2014-08-25:
hi, i am working towards the same thing but i want to use turtlebot so i am wondering what the camera name should be in this case?

Comment by tiberium24 on 2018-06-24:
I am trying the same thing and getting rostopic echo camera/depth_registered/image_raw WARNING: no messages received and simulated time is active. Is /clock being published?

How to resolve this??