We are using Kinect in this robot for replicating the function of expensive laser range scanner. Kinect can deliver Point Cloud data which contains the depth of each point of surrounding. The Point Cloud data is processed and converted to data equivalent to a laser scanner using the ROS depthimage_to_laserscan
package. The main function of this package is to slice a section of the Point Cloud data and convert it to a laser scan equivalent data type. The Pointcloud2
data type is sensor_msgs/PointCloud2
and for the laser scanner, the data type is sensor_msgs/LaserScan
. This package will perform this processing and fake the laser scanner. The laser scanner output can be viewed using RViz. In order to run the conversion, we have to start the convertor nodelets that will perform this operation. We have to specify this in our launch file to start the conversion. The following is the required code in the launch file to start the depthimage_to_laserscan...
Learning Robotics using Python
Learning Robotics using Python
Overview of this book
Table of Contents (19 chapters)
Learning Robotics Using Python
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Free Chapter
Introduction to Robotics
Mechanical Design of a Service Robot
Working with Robot Simulation Using ROS and Gazebo
Designing ChefBot Hardware
Working with Robotic Actuators and Wheel Encoders
Working with Robotic Sensors
Programming Vision Sensors Using Python and ROS
Working with Speech Recognition and Synthesis Using Python and ROS
Applying Artificial Intelligence to ChefBot Using Python
Integration of ChefBot Hardware and Interfacing it into ROS, Using Python
Designing a GUI for a Robot Using Qt and Python
The Calibration and Testing of ChefBot
Index
Customer Reviews