0% found this document useful (0 votes)
173 views12 pages

Kinect With ROS Tutorial

This document provides instructions for using the Kinect sensor with ROS. It describes installing the openni_kinect package which provides drivers and packages for accessing Kinect sensor data in ROS. It explains how to use the openni_launch and openni_tracker packages to view RGB/depth images from the Kinect and track skeleton joint positions using ROS RViz for visualization. Tips for troubleshooting RViz issues are also provided.

Uploaded by

.adtmmal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
173 views12 pages

Kinect With ROS Tutorial

This document provides instructions for using the Kinect sensor with ROS. It describes installing the openni_kinect package which provides drivers and packages for accessing Kinect sensor data in ROS. It explains how to use the openni_launch and openni_tracker packages to view RGB/depth images from the Kinect and track skeleton joint positions using ROS RViz for visualization. Tips for troubleshooting RViz issues are also provided.

Uploaded by

.adtmmal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 12

Kinect with ROS Tutorial

Jiseob Kim ([email protected])


22 May 2012
Kinect Review
• Motion sensing input device
• Sensors:
– RGB camera (center)
– Depth camera (left, right together)
– Microphone array (side)
• SDK (Software Development Kit)
– Provided by Microsoft, only for Windows
• OpenNI
– SDK provided by manufacturer of Kinect.
– Ported to ROS!
CAUTION!
• Do not try to TILT OR MOVE Kinect too
hard.
– There is a motor in it. It is best to adjust manually
by books or tripods.
openni_kinect stack
• Search openni to get to the page
openni_kinect stack (cont.)
• To install the package, just use apt-get
– You don’t need to care about source based installation

• After the installation, You can find the packages:


openni_launch, openni_tracker
Packages
• You only use following
– openni_launch
– openni_tracker
• With openni_launch, you can get the images
from camera

• With openni_tracker, you can get the skeleton


(joint positions, joint angles)
openni_launch
• Refer to the page:
http://www.ros.org/wiki/openni_launch
• First type this command to start the Kinect driver.
> roslaunch openni_launch openni.launch

• To watch the RGB image, type this command


> rosrun image_view image_view image:=/camera/rgb/image_color

• To watch the Depth image, type this command


> rosrun image_view disparity_view image:=/camera/depth_registered/disparity
openni_launch (cont.)
• Note:
– It is possible to use rviz to visualize the images
BUT it often conflict when you visualize the
skeleton at the same time.
openni_tracker
• Refer to the page:
http://www.ros.org/wiki/openni_tracker
• To start tracking, type this command
> rosrun openni_tracker openni_tracker

– On the terminal, you can see the status of tracking


– It will start calibration when you perform the
surrender pose like following
openni_tracker (cont.)
• As soon as calibration is completed,
openni_tracker will generate the topic called tf
• You can use rviz to visualize the skeleton.
– Add tf window
– Choose openni_depth_frame as fixed frame
Tips about rviz
• rviz is a good tool to visualize topics in ROS
but it is very unstable and has many bugs.
• When you have some problem with starting
rviz, try to remove files in ~/.rviz/ then restart
the rviz
> cd ~/.rviz
> ls
config display_config
> cp config config_bk
> cp display_config display_config_bk
> rm config
> rm display_config
> rosrun rviz rviz
Tips about rviz (cont.)
• Sometimes, when you try to add a window in
rviz, you may not get the list of window
categories. Then, restart the rviz, it should
work fine.

You might also like