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Hi! I am trying to change the settings of turtlebot simulation, so I can get a better gmapping result. But I can't find a better way to change FOV of kinect. Any help is much appreciated.

I went to the turtlebot_description folder and find the urdf file of turtlebot_gazebo.urdf.xarco. I modified the following code. <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>

I edited horizontal_fov to change its FOV. If I change it like {160.0M_PI/180.0}, the result of gmapping can be shown on rviz tool; but if I change horizontal_fov to more than {180.0M_PI/180.0}, the gmapping result will not be shown.

I have been looking everywhere but I can't find where I can remove the restriction and make simulated Kinect have a FOV of 270 degree. I wonder if there is a solution?

Thank you very much for helping.


Originally posted by Sean81 on ROS Answers with karma: 21 on 2016-04-22

Post score: 2

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1 Answer 1

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The simulated kinect uses a pinhole camera model. This model only works for FOVs below 180 degree, so there is no way you can over 180 without some major refactoring. There is a wide angle camera available for Gazebo (see this tutorial), but making this work for depth images might be significant implementation effort.

You're probably better off just mounting a simulated LIDAR to your Turtlebot.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2016-04-22

This answer was ACCEPTED on the original site

Post score: 3


Original comments

Comment by Sean81 on 2016-04-22:
Thank you!!! I will try to use a simulated laser scanner.

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