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cyphy_Drivers: cyphy_ros_gps | cyphy_rosfalcon | cyphy_xsens_mtig | freenect | kinect_camera

Package Summary

A general purpose ROS driver for the Microsoft XBOX 360 Kinect sensor. The driver publishes:

• RGB/IR image data
• depth data as PointCloud and PointCloud2
• ...

There are two versions of the driver: a standard ROS node, and a nodelet.

• Author: Ivan Dryanovski, William Morris, Stéphane Magnenat, Radu Bogdan Rusu, Patrick Mihelich
• License: BSD
• Repository: cyphy
• Source: bzr lp:cyphy

ROS API

Kinect Node

The Kinect node and nodelet implement the following ROS API:

Published Topics

camera/points (sensor_msgs/PointCloud)

• The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 1

camera/points2 (sensor_msgs/PointCloud2)

• The 3D pointcloud acquired by the Kinect stereo, as pointcloud version 2

camera/rgb/camera_info (sensor_msgs/CameraInfo)

• Metadata (camera matrix, distortion, rectification, projection) for the color camera

camera/rgb/image_raw (sensor_msgs/Image)

• The raw uncompressed images of the color camera

camera/depth/camera_info (sensor_msgs/CameraInfo)

• Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera

camera/depth/image_raw (sensor_msgs/Image)

• The raw uncompressed images of the infrared depth camera

Parameters

kinect_node/depth/camera_info_url (namespace on parameter server)

• Metadata (camera matrix, distortion, rectification, projection) for the infrared depth camera.