DumE-test

Setting up Kinect model

• Add the kinect directory to ~/.gazebo/models (create models sub-directory if it doesn't exist).
• Also type the following command into your terminal window
  echo 'export GAZEBO_MODEL_PATH=~/.gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc (for bash users)
  echo 'export GAZEBO_MODEL_PATH=~/.gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.zshrc (for zsh users)

Building Files

Add all the folders except kinect to your catkin workspace and then run catkin build to build the packages.

Running Simulation

Run roslaunch kinect_robo default.launch to start the simulation.

Additional Information

• Visualisation of camera data can be seen in RViz
• color image data is published to topic /kinect/color/image_raw
• depth image data is published to topic /kinect/depth/image_raw
• pointcloud data is published to topic /kinect/depths/points