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--- turtlebot:adventures:sensing102_hints [2023/11/07 12:11] – [Checking that Data is Being Published] classes
+++ turtlebot:adventures:sensing102_hints [2023/11/28 12:19] – classes
@@ Line 1: / Line 1: @@
-==== Connecting to the Kinect Sensor ====
+==== Connecting to the Kinect Sensor w/out Color+Depth Registration ====
 If you have trouble with subscribing to the depth data or to the linescan data, then it may be that the main publisher needed is not running, or is publishing to another topic.  One fix, found [[http://answers.ros.org/question/112391/nothing-published-to-scan-under-hydro/|here]] indicates that one should disable registration of the depth data to the image:
@@ Line 5: / Line 5: @@
 roslaunch turtlebot_bringup 3dsensor.launch depth_registration:=false
 </code>
+==== Connecting to the Kinect Sensor with Color+Depth Registration ====
+The default ``3Dsensor`` launch file for the turtlebot enables depth registration in its fully glory by default.  The amount of computation required to register in real-time overwhelms the laptop, which is why running the ``3Dsensor`` launch with default configuration settings can crash, either right away or eventually.  But, suppose that the color and depth should be registered, then what?  There is an intermediate option.  What causes problems is that depth registration creates a point cloud by default.  Converting an image with 300k+ pixels to a point cloud is time consuming.  That's what is causes problems.
+The solution is to override the point cloud generation with the following disabling flag:
+<code>
+roslaunch turtlebot_bringup 3dsensor.launch enable_pointcloud:=false
+</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.
 ==== Checking that Data is Being Published ====