Testing Simulated Kinect
What is Kinect?
Kinect consists of three parts that work together: an RGB camera, a depth sensor, and a multi-array microphone. The TurtleBot uses Kinect to see the world in 3D and for detecting and tracking objects.
First of all, make sure you have the openni packages installed:
You can check the active 3D sensor of TurtleBot by running:
You have the right active 3D sensor if you see
kinect. If you see
asus_xtion_pro or something else you will need to set another value in
or run this command in every new terminal:
To test Kinect sensor in simulated environment, fire up a standard Turtlebot simulation by running:
Next, start the Rviz by running:
Then click on DepthCloud option on the left side and, move your camera with mouse. You should see Kinect’s depth cloud in various colors.