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Visualizing TurtleBot 3D camera Data
Description: This tutorial shows you how to look at data coming from a 3D camera like kinect or xtion.Tutorial Level: BEGINNER
Next Tutorial: Keyboard Teleop
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Starting the 3D sensor
This tutorial assumes that you have completed the TurtleBot bringup tutorial and your TurtleBot is running.
Start by launch the kinect launch file on your TurtleBot:
roslaunch turtlebot_bringup kinect.launch
Start rviz
On your workstation computer start rviz:
rosrun rviz rviz
Add Camera View
- Click the add button
- Select Camera (this will add a camera drop down in the right side bar)
- Click the topic button in the camera drop down
- Click on camera then on depth or rgb and select an image to view
- An image view window will pop up displaying the image
Add a PointCloud2 View
- Click the add button
Select PointCloud2 (this will add a pointcloud2 drop down in the right side bar)
- Click the topic button in the pointcloud2 drop down
- Click on camera then on depth or rgb and select points to view
- The pointcloud will display in the main rviz window.
- Select axis in the pointcloud2 drop down to change the pointcloud visualization.
