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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.

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152 views

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
Available Formats
Download as PDF, TXT or read online on Scribd
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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.

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