I am using the AUS Xtion PRO Live sensor for my robot. I have used openni_ros for accessing the depth data of sensor in ros. Then I configured the Xtion PRO Live as a normal webcam using the module in this link https://github.com/xqms/xtion Then I accessed the ASUS sensor just like a normal webcam through webcam applications in ubuntu. But then i couldn't access it using the Openni_ros. The problem is I need to process the depth data onboard the robot computer and send the normal RGB video using webrtc at the same time. Is there a way to do so.
Post score: 1
Comment by Javier V. Gómez on 2015-07-29:
Perhaps I am missing something, but you can subscribe to the raw rgb topic and then send it as you wish. Is this not OK?
Comment by Humpelstilzchen on 2015-07-29:
Use openni2_camera to open the rgb & distance streams, then write a ros node(let) using cv_bridge as a gateway from ros video stream to your webrtc target.
Comment by Humpelstilzchen on 2015-07-31:
that should do it.
Comment by robobee on 2015-07-31:
That only works like web_video_server. Is there a way by which we can make webrtc client to access the video stream from web_video_server instead of accessng video device like webcam.