Integration of kinect sensor in moveit

[Philipp Ennen]

Hey,


i want to integrate a kinect camera into the planning scene. So I have followed the instructions given in this tutorial: http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start#Configure_MoveIt.21_For_Sensing_With_The_PR2 but i am sure i have to do a little bit more ;)

If I am right I have to start a kinect driver (e.g. openni), add my kinect to the URDF file an make use of the "static_transform_publisher".

First of all the URDF - I have added following:

   <link name="linkkinect1">
     <visual>
        <geometry>
       <box size="64 121 38.1"/>
    </geometry>
     <material name="Blue"/>
     <origin xyz="0 0 -420"/>
     </visual>
  </link>

  <joint name="kinect_depth_joint" type="fixed">
     <origin xyz="-300 1000 1000" rpy="0 0 0"/>
     <parent link="base_link"/>
     <child link="linkkinect1"/>
  </joint>

In my moveit_planning_execution.launch I have added following:

  <node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 /linkkinect1 /overhead_kinect1_link  100" />

  <include file="$(find openni_launch)/launch/openni.launch"> 
    <arg name="camera" value="overhead_kinect1"/>
    <arg name="depth_registration" value="false" />
  </include>

My sensors_rgdb.yaml looks like:

sensors:
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
   point_cloud_topic: /overhead_kinect1/depth_registered/points
   filtered_cloud_topic: output_cloud
   max_range: 5.0
   padding_offset: 0.01
   padding_scale: 1
   point_subsample: 1
   frame_subsample: 1

and the ..._moveit_sensor_manager.launch:

<launch>
 <param name="octomap_frame" type="string" value="base_link" />
  <param name="octomap_resolution" type="double" value="5" />
 <param name="max_range" type="double" value="5.0"/>
 <rosparam command="load" file="$(find IRB120_moveit_config)/config/sensors_rgdb.yaml" />
</launch>

But if i start moveit_planning_execution.launch i don't get an octomap published at /move_group/output_cloud. The depth_registered/points are shown, but not the octomap.

It would be really great if somebody has a little advice for me.

Here is the fully package: https://drive.google.com/folderview?id=0B2DxOhQV-l1SN3V5enN0eFJpOTQ&usp=sharing

Regards,
Philipp

[Rune Etzerodt]

Hi Philipp

I have a similar problem to yours, not being able to get anything published through octomap at "/move_group/monitored_planning_scene". I have followed: http://moveit.ros.org/wiki/PR2/Gazebo/Quick_Start

Have you by any change solved your problem?

Best regards

Rune