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Table of Contents
Connecting to the Kinect Sensor
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 here indicates that one should disable registration of the depth data to the image:
roslaunch turtlebot_bringup 3dsensor.launch depth_registration:=false
Checking that Data is Being Published
ROS has a command that can be used to view visual data streams. Using this command is way better than using ``rostopic echo`` to view the data coming from image streams. The way to view visual data is through a command like the following ``` rosrun image_view image_view image:=/name/of/topic ``` where ``/name/of/topic`` is the image topic to subscribe to and view.
ROS Basics and Python for Image Topics
The ROS wiki site has a decent tutorial that provides code tips on how to subscribe to an image stream and how to display it through the OpenCV bridge libraries. Of course, some massaging and editing of the code is needed to get it to work for the Turtlebot proper.