Stereo Processing in Simulation
Description: Starting the necessary components for generating stereo cloud in simulation with PR2.Tutorial Level: INTERMEDIATE
![/!\](/moin_static193/rostheme/img/alert.png "/!\"){kind=small}
work in progress
- Build the required packages
rosmake pr2_gazebo stereo_image_proc
- Start Gazebo with an example world with some objects
roslaunch gazebo_worlds simple_world.launch
- Start the PR2
roslaunch pr2_gazebo pr2.launch
- Start Gazebo with an example world with some objects
- Start the image processing for the wide and narrow stereo
roslaunch stereo_image_proc wide.launch roslaunch stereo_image_proc narrow.launch
- Stereo image processing node outputs various ROS topics:
/wide_stereo/cloud /wide_stereo/right/* /wide_stereo/left/* /narrow_stereo/cloud /narrow_stereo/right/* /narrow_stereo/left/*
which can be visualized using rviz.