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| turtlebot:adventures:sensing102_hints [2023/11/28 12:18] – classes | turtlebot:adventures:sensing102_hints [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| roslaunch turtlebot_bringup 3dsensor.launch enable_pointcloud:=false | roslaunch turtlebot_bringup 3dsensor.launch enable_pointcloud:=false |
| </code> | </code> |
| as inferred from this [[https://stackoverflow.com/questions/57119292/how-to-merge-2-ros-topics-into-1|stack overflow question]. In my experience, the first time launching failed (lots of red error messages) but the second time succeeded (only yellow warning messages). See if that helps. | as inferred from this [[https://stackoverflow.com/questions/57119292/how-to-merge-2-ros-topics-into-1|stack overflow question]]. In my experience, the first time launching failed (lots of red error messages) but the second time succeeded (only yellow warning messages). See if that helps. |
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| | Why register depth? If access to the depth for given color pixels is necessary, then registering color and depth images is essential. Otherwise, the corresponding pixel in the depth image needs to be computed. That calculation is outside of the scope of the course and more inline with ECE4580. Registering depth provides two topics that provide color and depth images whos pixels match in terms of information content about the world. These topics were found to be ``/camera/depth_registered/hw_registered/`` and ``/camera/rgb/image_rect_color`` (at least on the laptop used to confirm functionality). Visualizing those two image topics and waving your hand infront of the camera should result in the hand being plotted in the same place within the two images. Doing the same with the raw information would not do so. |
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| ==== Checking that Data is Being Published ==== | ==== Checking that Data is Being Published ==== |
