Documentation Status

clearpath_kinect: clearpath_kinect_demo | clearpath_tools

Package Summary

Documented

The clearpath_kinect_demo package provides a set of basic demos that can be used with almost any robot and a Kinect. Launch files can be found in clearpath_husky and clearpath_turtlebot with robot specific parameters.

clearpath_kinect: clearpath_kinect_demo | clearpath_tools

Package Summary

Documented

The clearpath_kinect_demo package provides a set of basic demos that can be used with almost any robot and a Kinect. Launch files can be found in clearpath_husky and clearpath_turtlebot with robot specific parameters.

clearpath_kinect: clearpath_kinect_demo | clearpath_tools

Package Summary

Documented

The clearpath_kinect_demo package provides a set of basic demos that can be used with almost any robot and a Kinect. Launch files can be found in clearpath_husky and clearpath_turtlebot with robot specific parameters.

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Nodes

ClearpathDemoExplore

ClearpathDemoExplore is a ROS node that reads a frame from the Kinect PointCloud and generates a motion output that drives it towards empty space.

Subscribed Topics

idfloor_in(~in) (sensor_msgs/PointCloud2)
  • Get the Kinect Point cloud as a pcl::PointCloud<pcl::PointXYZRGB>.

Published Topics

idfloor_out(~out) (sensor_msgs/PointCloud2)
  • A pcl::PointCloud<pcl::PointXYZRGB> that can be used for visualization.
idfloor_out_vel(~out_vel) (geometry_msgs/Twist)
  • Publish the commanded velocity.

Parameters

~in (string, default: "idfloor_in")
  • Name of the topic your XYZRGB Point Cloud is on.
~out (string, default: "idfloor_out")
  • Name of the topic your display XYZRGB Point Cloud is put out on.
~out_vel (string, default: "idfloor_out_vel")
  • Name of the topic your cmd_vel should go out on.
~angular_vel_correction (double, default: 1.0)
  • A gain applied to the commanded angular velocity during turns.
~lin_speed (double, default: 0.3)
  • The linear speed in m/s the robot should move during operation.
~ang_speed (double, default: 0.3)
  • The angular speed that the robot should moving during turns, rad/s.
~cam_height (double, default: 0.55)
  • The height of the Kinect from the ground
~cam_z_trans (double, default: 0.0)
  • Displacement of the camera from the center of the robot.
~wall_buffer (double, default: 0.6)
  • Amount of "buffer" to add to obstacles (treating the robot as a point)
~publish_visualization (int, default: 1)
  • A flag to turn on/off visualization publishing on the 'out' channel

ClearpathDemoTrack

ClearpathDemoTrack is a ROS node that reads a frame from the Kinect PointCloud and generates a motion output that drives it towards a tracked object (person).

Subscribed Topics

idfloor_in(~in) (sensor_msgs/PointCloud2)
  • Get the Kinect Point cloud as a pcl::PointCloud<pcl::PointXYZRGB>.

Published Topics

idfloor_out(~out) (sensor_msgs/PointCloud2)
  • A pcl::PointCloud<pcl::PointXYZRGB> that can be used for visualization.
idfloor_out_vel(~out_vel) (geometry_msgs/Twist)
  • Publish the commanded velocity.

Parameters

~in (string, default: "idfloor_in")
  • Name of the topic your XYZRGB Point Cloud is on.
~out (string, default: "idfloor_out")
  • Name of the topic your display XYZRGB Point Cloud is put out on.
~out_vel (string, default: "idfloor_out_vel")
  • Name of the topic your cmd_vel should go out on.
~angular_vel_correction (double, default: 1.0)
  • A gain applied to the commanded angular velocity during turns.
~lin_speed (double, default: 0.3)
  • The linear speed in m/s the robot should move during operation.
~ang_speed (double, default: 0.3)
  • The angular speed that the robot should moving during turns, rad/s.
~cam_height (double, default: 0.55)
  • The height of the Kinect from the ground
~cam_z_trans (double, default: 0.0)
  • Displacement of the camera from the center of the robot.
~window_size (double, default: 0.5)
  • Distance in meters that is searched from the previous object location.
~publish_visualization (int, default: 1)
  • A flag to turn on/off visualization publishing on the 'out' channel

Wiki: clearpath_kinect_demo (last edited 2011-08-18 19:53:35 by SeanAnderson)