[ros-users] Kinect and Navigation Stack

[Eitan Marder-Eppstein]

Johannes,

A few things. First, you'll need to make sure that you convert the
PoinCloud2 published by the Kinect driver to a PointCloud since the costmap
doesn't have support for the PointCloud2 type yet. You'll also probably want
to downsample the cloud from the kinect using something like the VoxelGrid
PCL filter because the costmap can't handle the number of points coming in
from the Kinect. Also, you're pushing your parameters into the wrong
namespace for the costmap_node, it should be "costmap" instead of
"global_costmap" if you want your configuration to be read successfully.

Hope this helps,

Eitan

On Fri, Dec 10, 2010 at 10:09 AM, Johannes Mayr <joh.mayr at gmail.com> wrote:

> Hi everybody,
>
> I try to run your navigation Stack with a Microsoft Kinect.
> Exactly I just want to create a 2D costmap (Node: costmap_2d) which I
> want to use to generate a route through space for my biped robot.
>
> First I start the kinect_camera node to bring up the driver. This is
> done by:
>        roslaunch kinect_camera kinect_with_tf.launch
> Now 3 nodes are started:
>        /kinect_driver --> publishes the PointCloude
>        /kinect_rgb_to_kinect_depth --> publishes transformation between the
> 2
> cameras of the kinect (/kinect_rgb --> /kinect_depth)
>        /world_to_kinect_rgb --> publishes transformation from the world to
> the
> camera (/world --> /kinect_rgb) (I know this transfomation is a static
> one and has to be adopted to the camera position if the camera moves)
>
> Then I created a costmap_params.yaml file to config the costmap_2d node
> (I think here is my fault)
>
> global_costmap:
>         obstacle_range: 2.5
>         raytrace_range: 3.0
>         #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
>         robot_radius: 1
>         inflation_radius: 0.55
>         observation_sources: point_cloud_sensor
>         point_cloud_sensor: {sensor_frame: /kinect_rgb, data_type:
>        PointCloud, topic: /kinect/rgb/points, marking: true, clearing:
>        true}
>         global_frame: /world
>         robot_base_frame: /kinect_rgb
>         update_frequency: 5.0
>         static_map: false
>         rolling_window: true
>         width: 6.0
>         height: 6.0
>         resolution: 0.05
>
> This config file is used in the launchfile for the global costmap which
> looks like this:
>
> <launch>
>         <!-- Publishes the voxel grid to rviz for display -->
>         <node pkg="costmap_2d" type="costmap_2d_markers"
>        name="voxel_visualizer">
>           <remap from="voxel_grid" to="costmap/voxel_grid"/>
>         </node>
>
>         <!-- Run the costmap node -->
>         <node name="costmap_node" pkg="costmap_2d"
>        type="costmap_2d_node" >
>           <rosparam file="$(find
>        costmap_2d)/launch/global_costmap_params.yaml" command="load" />
>         </node>
>        </launch>
>
> If I do so the hole thing is not working. I don't know exactly why, but
> maybe someone can give me a hint.
> Hopefully somebody can reproduce my troubles even without a Kinect.
>
>
> Best Regards
>
> Johannes
>
>
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