Note: This tutorial assumes that you have completed the previous tutorials: building a ROS package.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Getting started pcl with ros

Description: This tutorial discusses installation of downloading and installing openni drivers, openni_launch and getting started.

Tutorial Level: BEGINNER

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1.Download openni drivers to work with xbox kinect

2.unzip it with command

$  tar -zxvf filename.tar.gz

3.Install openni drivers using the command in the parent directory of unzipped file

$  sudo ./install.sh

4.Install openni_launch

$  sudo apt-get install ros-<rosdistro>-openni-launch

5. Run openni_launch using the command

$  roslaunch openni_launch openni.launch depth_registration:=true

6. The topics which we deal with are

   topic                         type            description
/camera/depth/points             pointCloud2     only cloud of points
/camera/depth_registered/points  pointCloud2     point cloud with rgb colors

7.visualising the cloud in rviz

$  rosrun rviz rviz

8. In rviz to visualise pointcloud with rgb colors

fixed_frame: /camera_link
add PointCloud2 with topic as /camera/depth_registered/points

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Wiki: mallasrikanth/getting started pcl with ros (last edited 2014-12-28 13:43:22 by mallasrikanth)