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Visualizing TurtleBot Kinect Data

Description: This tutorial shows you how to look at data coming from the kinect camera.

Tutorial Level: BEGINNER

Next Tutorial: TurtleBot Teleoperation

Watch the Video

Starting the Kinect

This tutorial assumes that you have completed the TurtleBot bringup tutorial and your TurtleBot is running.

Start by launch the kinect launch file on your TurtleBot:

• roslaunch turtlebot_bringup kinect.launch

Start rviz

On your workstation computer start rviz:

• rosrun rviz rviz

Add Camera View

1. Click the add button
2. Select Camera (this will add a camera drop down in the right side bar)
3. Click the topic button in the camera drop down
4. Click on camera then on depth or rgb and select an image to view
5. An image view window will pop up displaying the image

Add a PointCloud2 View

1. Click the add button

2. Select PointCloud2 (this will add a pointcloud2 drop down in the right side bar)

3. Click the topic button in the pointcloud2 drop down
4. Click on camera then on depth or rgb and select points to view
5. The pointcloud will display in the main rviz window.
6. Select axis in the pointcloud2 drop down to change the pointcloud visualization.