Laserscan_kinect not working with astra orbbec depth camera in indigo

[arronatron]

Hello Michat,

I’m very interested in using you node for some close obstacle avoidance.

However I cant seem to get your "laserscan_kinect" working in indigo. Im using a astra orbbec S camera on a inidgo Jackal.

My lunch file looks like this;

# Frame id for the output laserscan output_frame_id: camera_01_depth_frame # Minimum sensor range (m). Astra sensors range 0.4-2m range_min: 0.4 # Maximum sensor range (m). range_max: 2.0 # Height of used part of depth img (px). Astra Depth Res = 640x480 scan_height: 240 # Row step in depth image processing (px). depth_img_row_step: 1 # If continously camera data update. cam_model_update: false # Height of sensor optical center mount (m). sensor_mount_height: 0.25 # Sensor tilt angle compensation. sensor_tilt_angle: 30.0 # Remove ground from scan. ground_remove_en: true # Ground margin (m). ground_margin: 0.05 # Sensor tilt angle compensation. tilt_compensation_en: true

Unfortunately every time I try to view the output scan in RVIZ it crashes. It also seems it is not connecting to the 2 topics i give it. do you know why?

output:
carma2:Fri Feb 08-14:08:~$ rosnode info /laserscan_kinect

Node [/laserscan_kinect]
Publications:

• /scan3 [sensor_msgs/LaserScan]
• /laserscan_kinect/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
• /laserscan_kinect/parameter_updates [dynamic_reconfigure/Config]
• /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services:

• /laserscan_kinect/set_logger_level
• /laserscan_kinect/set_parameters
• /laserscan_kinect/get_loggers

contacting node http://CPR-J100-0150:52464/ ...
Pid: 14284
Connections:

• topic: /rosout
  • to: /rosout
  • direction: outbound
  • transport: TCPROS