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
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
