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Hi, I want to see the output of the 3DSensors of the turtlebot in simulation in gazebo.

I am launching turtlebot in gazebo using command:

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

then,

roslaunch turtlebot_bringup minimal.launch

then.

roslaunch turtlebot_bringup 3dsensor.launch

then, Its showing:

started roslaunch server http:// localhost:53453/

SUMMARY

PARAMETERS

  • /camera/camera_nodelet_manager/num_worker_threads
  • /camera/depth_rectify_depth/interpolation
  • /camera/depth_registered_rectify_depth/interpolation
  • /camera/disparity_depth/max_range
  • /camera/disparity_depth/min_range
  • /camera/disparity_registered_hw/max_range
  • /camera/disparity_registered_hw/min_range
  • /camera/disparity_registered_sw/max_range
  • /camera/disparity_registered_sw/min_range
  • /camera/driver/depth_camera_info_url
  • /camera/driver/depth_frame_id
  • /camera/driver/depth_registration
  • /camera/driver/device_id
  • /camera/driver/rgb_camera_info_url
  • /camera/driver/rgb_frame_id
  • /depthimage_to_laserscan/output_frame_id
  • /depthimage_to_laserscan/range_min
  • /depthimage_to_laserscan/scan_height
  • /rosdistro
  • /rosversion

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) debayer (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_ir (nodelet/nodelet) rectify_mono (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) / depthimage_to_laserscan (nodelet/nodelet)

ROS_MASTER_URI=http:// localhost:11311

core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [5376] process[camera/driver-2]: started with pid [5399] [ INFO] [1386525391.401574172]: Initializing nodelet with 4 worker threads. process[camera/debayer-3]: started with pid [5434] process[camera/rectify_mono-4]: started with pid [5450] process[camera/rectify_color-5]: started with pid [5467] process[camera/rectify_ir-6]: started with pid [5483] process[camera/depth_rectify_depth-7]: started with pid [5500] [ INFO] [1386525391.957140970]: No devices connected.... waiting for devices to be connected process[camera/depth_metric_rect-8]: started with pid [5516] process[camera/depth_metric-9]: started with pid [5534] process[camera/depth_points-10]: started with pid [5552] process[camera/register_depth_rgb-11]: started with pid [5569] process[camera/points_xyzrgb_sw_registered-12]: started with pid [5585] process[camera/depth_registered_rectify_depth-13]: started with pid [5603] process[camera/points_xyzrgb_hw_registered-14]: started with pid [5621] process[camera/disparity_depth-15]: started with pid [5639] process[camera/disparity_registered_sw-16]: started with pid [5656] process[camera/disparity_registered_hw-17]: started with pid [5672] process[depthimage_to_laserscan-18]: started with pid [5690] [ INFO] [1386525394.962265431]: No devices connected.... waiting for devices to be connected [ INFO] [1386525397.966016741]: No devices connected.... waiting for devices to be connected

PLZ help anyone... THANKS in advance...


Originally posted by DPK27 on ROS Answers with karma: 5 on 2013-12-08

Post score: 0

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1 Answer 1

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Assumes that you are using hydro.

To simulate turtlebot, you don't have to launch minimal and 3d sensor. You can control both 3d sensor and robot with the command below.

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

or

roslaunch turtlebot_gazebo turtlebot_playground.launch

/camera/depth/points will give you 3d data. check with this command

rostopic bw /camera/depth/points 

or bringup rviz and see.

roslaunch turtlebot_rviz_launchers view_robot.launch

Originally posted by jihoonl with karma: 634 on 2013-12-10

This answer was ACCEPTED on the original site

Post score: 0

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