├── cfg
    ├── calibration_depth.yaml
    └── calibration_rgb.yaml
├── package.xml
├── launch
    ├── showimage.launch.py
    └── pointcloud.launch.py
├── include
    └── kinect_ros2
    │   └── kinect_ros2_component.hpp
├── README.md
├── CMakeLists.txt
├── src
    ├── kinect_ros2_node.cpp
    └── kinect_ros2_component.cpp
└── rviz
    └── pointcloud.rviz


/cfg/calibration_depth.yaml:
--------------------------------------------------------------------------------
 1 | image_width: 640
 2 | image_height: 480
 3 | camera_name: kinect
 4 | camera_matrix:
 5 |    rows: 3
 6 |    cols: 3
 7 |    data: [ 587.04607160, 0.00000000, 317.39001517, 0.00000000, 587.04607160, 234.30080720, 0.00000000, 0.00000000, 1.00000000 ]
 8 | distortion_coefficients:
 9 |    rows: 1
10 |    cols: 5
11 |    data: [ 0.00000000, 0.00000000, 0.00000000, 0.00000000, 0.00000000 ]
12 | rectification_matrix:
13 |    rows: 3
14 |    cols: 3
15 |    data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
16 | projection_matrix:
17 |    rows: 3
18 |    cols: 4
19 |    data: [ 587.04607160, 0.00000000, 317.39001517, 0., 0.00000000, 587.04607160, 234.30080720, 0., 0.00000000, 0.00000000, 1.00000000, 0. ]


--------------------------------------------------------------------------------
/cfg/calibration_rgb.yaml:
--------------------------------------------------------------------------------
 1 | image_width: 640
 2 | image_height: 480
 3 | camera_name: kinect
 4 | camera_matrix:
 5 |    rows: 3
 6 |    cols: 3
 7 |    data: [ 526.60717328, 0.00000000, 318.52510740, 0.00000000, 526.60717328, 241.18145973, 0.00000000, 0.00000000, 1.00000000 ]
 8 | distortion_coefficients:
 9 |    rows: 1
10 |    cols: 5
11 |    data: [ 0.10265184, -0.18646532, 0.00000000, 0.00000000, 0.00000000 ]
12 | rectification_matrix:
13 |    rows: 3
14 |    cols: 3
15 |    data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
16 | projection_matrix:
17 |    rows: 3
18 |    cols: 4
19 |    data: [ 526.60717328, 0.00000000, 318.52510740, 0., 0.00000000, 526.60717328, 241.18145973, 0., 0.00000000, 0.00000000, 1.00000000, 0. ]


--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>kinect_ros2</name>
 5 |   <version>0.0.1</version>
 6 |   <description>Kinect v1 driver for ROS2</description>
 7 |   <maintainer email="fernandodelio@gmail.com">Fernando de Lio</maintainer>
 8 |   <license>BSD</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 | 
12 |   <depend>libfreenect</depend>
13 |   <depend>rclcpp</depend>
14 |   <depend>sensor_msgs</depend>
15 |   <depend>cv_bridge</depend>
16 |   <depend>image_transport</depend>
17 |   <depend>camera_info_manager</depend>
18 |   <depend>depth_image_proc</depend>
19 | 
20 |   <exec_depend>image_tools</exec_depend>
21 | 
22 |   <export>
23 |     <build_type>ament_cmake</build_type>
24 |   </export>
25 | </package>


--------------------------------------------------------------------------------
/launch/showimage.launch.py:
--------------------------------------------------------------------------------
 1 | import launch_ros
 2 | 
 3 | import launch
 4 | 
 5 | 
 6 | def generate_launch_description():
 7 |     return launch.LaunchDescription(
 8 |         [
 9 |             launch_ros.actions.Node(
10 |                 package="kinect_ros2",
11 |                 executable="kinect_ros2_node",
12 |                 name="kinect_ros2",
13 |                 namespace="kinect"
14 |             ),
15 |             launch_ros.actions.Node(
16 |                 package="image_tools",
17 |                 executable="showimage",
18 |                 name="rgb_showimage",
19 |                 parameters=[{"window_name": "RGB"}],
20 |                 remappings=[("image", "kinect/image_raw")],
21 |             ),
22 |             launch_ros.actions.Node(
23 |                 package="image_tools",
24 |                 executable="showimage",
25 |                 name="depth_showimage",
26 |                 parameters=[{"window_name": "Depth"}],
27 |                 remappings=[("image", "kinect/depth/image_raw")],
28 |             ),
29 |         ]
30 |     )
31 | 


--------------------------------------------------------------------------------
/include/kinect_ros2/kinect_ros2_component.hpp:
--------------------------------------------------------------------------------
 1 | #ifndef KINECT_ROS2__KINECT_ROS2_COMPONENT_HPP_
 2 | #define KINECT_ROS2__KINECT_ROS2_COMPONENT_HPP_
 3 | 
 4 | extern "C"
 5 | {
 6 |   #include "libfreenect/libfreenect.h"
 7 | }
 8 | #include "rclcpp/rclcpp.hpp"
 9 | #include "camera_info_manager/camera_info_manager.hpp"
10 | #include "image_transport/image_transport.hpp"
11 | #include "sensor_msgs/msg/camera_info.hpp"
12 | #include "cv_bridge/cv_bridge.h"
13 | 
14 | namespace kinect_ros2
15 | {
16 | 
17 | class KinectRosComponent : public rclcpp::Node
18 | {
19 | public:
20 |   KinectRosComponent(const rclcpp::NodeOptions & options);
21 |   ~KinectRosComponent();
22 | 
23 | private:
24 |   freenect_context * fn_ctx_;
25 |   freenect_device * fn_dev_;
26 |   rclcpp::TimerBase::SharedPtr timer_;
27 | 
28 |   std::shared_ptr<camera_info_manager::CameraInfoManager> rgb_info_manager_, depth_info_manager_;
29 |   sensor_msgs::msg::CameraInfo rgb_info_, depth_info_;
30 | 
31 |   image_transport::CameraPublisher depth_pub_, rgb_pub_;
32 | 
33 |   static void depth_cb(freenect_device * dev, void * depth_ptr, uint32_t timestamp);
34 |   static void rgb_cb(freenect_device * dev, void * rgb_ptr, uint32_t timestamp);
35 | 
36 |   void timer_callback();
37 | };
38 | 
39 | }
40 | #endif  // KINECT_ROS2__KINECT_ROS2_COMPONENT_HPP_
41 | 


--------------------------------------------------------------------------------
/launch/pointcloud.launch.py:
--------------------------------------------------------------------------------
 1 | import os
 2 | 
 3 | import launch_ros
 4 | from launch_ros.actions.node import Node
 5 | 
 6 | from launch.actions.declare_launch_argument import DeclareLaunchArgument
 7 | from launch.launch_description import LaunchDescription
 8 | from launch.substitutions.launch_configuration import LaunchConfiguration
 9 | 
10 | 
11 | def generate_launch_description():
12 |     pkg_share = launch_ros.substitutions.FindPackageShare(package="kinect_ros2").find(
13 |         "kinect_ros2"
14 |     )
15 |     default_rviz_config_path = os.path.join(pkg_share, "rviz/pointcloud.rviz")
16 | 
17 |     return LaunchDescription(
18 |         [
19 |             DeclareLaunchArgument(
20 |                 name="rvizconfig",
21 |                 default_value=default_rviz_config_path,
22 |                 description="Absolute path to rviz config file",
23 |             ),
24 |             Node(
25 |                 package="kinect_ros2",
26 |                 executable="kinect_ros2_node",
27 |                 name="kinect_ros2",
28 |                 namespace="kinect",
29 |             ),
30 |             Node(
31 |                 package="rviz2",
32 |                 executable="rviz2",
33 |                 name="rviz2",
34 |                 output="screen",
35 |                 arguments=["-d", LaunchConfiguration("rvizconfig")],
36 |             ),
37 |         ]
38 |     )
39 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # `kinect_ros2`
 2 | 
 3 | ## Interface
 4 | 
 5 | ### Overview
 6 | Basic Kinect-v1 (for the Xbox 360) node, with IPC support, based on [libfreenect](https://github.com/OpenKinect/libfreenect).
 7 | For now, it only supports a single Kinect device. (If multiple devices present, the first one listed by the `freenect_num_devices` will be selected).
 8 | 
 9 | ### Published topics
10 | * `~image_raw` - RGB image(rgb8) ([sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html))
11 | * `~camera_info` - RGB camera_info ([sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html))
12 | * `~depth/image_raw` - Depth camera image(mono16) ([sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html))
13 | * `~depth/camera_info` - Depth camera_info ([sensor_msgs/CameraInfo](http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html))
14 | 
15 | ## Instalation
16 | ### 1. Install libfreenect
17 | The package was tested using a manual build from the [libfreenect](https://github.com/OpenKinect/libfreenect) github because the Kinect used, had a firmware version that requires specific build flags.
18 | 
19 | ### 2. Copy the repo
20 | Copy the repo to your workspace source folder.
21 | ~~~
22 | cd ~/ws/src
23 | git clone https://github.com/fadlio/kinect_ros2
24 | ~~~
25 | 
26 | ### 3. Install any missing ROS packages
27 | Use `rosdep` from the top directory of your workspace to install any missing ROS related dependency.
28 | ~~~
29 | cd ~/ws
30 | rosdep install --from-paths src --ignore-src -r -y
31 | ~~~
32 | 
33 | ### 4. Build your workspace
34 | From the top directory of your workspace, use `colcon` to build your packages.
35 | ~~~
36 | cd ~/ws
37 | colcon build
38 | ~~~
39 | 
40 | ## Using this package
41 | 
42 | ## Devices tested
43 | * Kinect Model 1473


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.8)
 2 | project(kinect_ros2)
 3 | 
 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 5 |   add_compile_options(-Wall -Wextra -Wpedantic)
 6 | endif()
 7 | 
 8 | include_directories(include)
 9 | 
10 | # find dependencies
11 | find_package(ament_cmake REQUIRED)
12 | find_package(rclcpp_components REQUIRED)
13 | find_package(ament_index_cpp REQUIRED)
14 | find_package(rclcpp REQUIRED)
15 | # find_package(Threads REQUIRED)
16 | 
17 | find_package(libfreenect REQUIRED)
18 | find_package(OpenCV REQUIRED)
19 | 
20 | find_package(sensor_msgs REQUIRED)
21 | 
22 | find_package(cv_bridge REQUIRED)
23 | find_package(image_transport REQUIRED)
24 | find_package(depth_image_proc REQUIRED)
25 | find_package(camera_info_manager REQUIRED)
26 | 
27 | add_library(kinect_ros2_component SHARED src/kinect_ros2_component.cpp)
28 | target_compile_definitions(kinect_ros2_component
29 |   PRIVATE "COMPOSITION_BUILDING_DLL")
30 | ament_target_dependencies(kinect_ros2_component 
31 |   rclcpp
32 |   sensor_msgs
33 |   std_msgs
34 |   cv_bridge
35 |   camera_info_manager
36 |   rclcpp_components
37 |   ament_index_cpp
38 |   image_transport
39 |   OpenCV)
40 | target_link_libraries(kinect_ros2_component
41 |   freenect)
42 | rclcpp_components_register_nodes(kinect_ros2_component "kinect_ros2::KinectRosComponent")
43 | 
44 | add_executable(kinect_ros2_node
45 |   src/kinect_ros2_node.cpp)
46 | target_link_libraries(kinect_ros2_node
47 |   kinect_ros2_component)
48 | ament_target_dependencies(kinect_ros2_node
49 |   "rclcpp")
50 | 
51 | install(TARGETS
52 |   kinect_ros2_component
53 |   ARCHIVE DESTINATION lib
54 |   LIBRARY DESTINATION lib
55 |   RUNTIME DESTINATION bin)
56 | 
57 | install(TARGETS
58 |   kinect_ros2_node
59 |   DESTINATION lib/${PROJECT_NAME})
60 | 
61 | install(
62 |   DIRECTORY cfg launch rviz
63 |   DESTINATION share/${PROJECT_NAME}
64 | )
65 | 
66 | ament_package()
67 | 


--------------------------------------------------------------------------------
/src/kinect_ros2_node.cpp:
--------------------------------------------------------------------------------
 1 | #include "rclcpp/rclcpp.hpp"
 2 | #include "kinect_ros2/kinect_ros2_component.hpp"
 3 | #include "class_loader/class_loader.hpp"
 4 | #include "ament_index_cpp/get_package_prefix.hpp"
 5 | #include "rclcpp_components/node_factory.hpp"
 6 | 
 7 | std::vector<class_loader::ClassLoader *> _loaders;
 8 | std::vector<rclcpp_components::NodeInstanceWrapper> _node_wrappers;
 9 | 
10 | rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_depth_image_proc_component()
11 | {
12 |   auto path_prefix = ament_index_cpp::get_package_prefix("depth_image_proc");
13 |   auto loader = new class_loader::ClassLoader(path_prefix + "/lib/libdepth_image_proc.so");
14 |   auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
15 | 
16 |   rclcpp::NodeOptions options;
17 |   options.use_intra_process_comms(true);
18 |   std::vector<std::string> arguments {
19 |     "image_rect:=depth/image_raw",
20 |     "camera_info:=depth/camera_info"
21 |   };
22 |   options.arguments(arguments);
23 | 
24 |   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node;
25 |   for (auto clazz : classes) {
26 |     auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
27 |     auto wrapper = node_factory->create_node_instance(options);
28 |     if (clazz == "rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>") {
29 |       node = wrapper.get_node_base_interface();
30 |       _node_wrappers.push_back(wrapper);
31 |       break;
32 |     }
33 |   }
34 |   if (node != nullptr) {
35 |     _loaders.push_back(loader);
36 |     return node;
37 |   }
38 |   throw std::invalid_argument("depth_image_proc::PointCloudXyzNode not found");
39 | }
40 | 
41 | int main(int argc, char * argv[])
42 | {
43 |   rclcpp::init(argc, argv);
44 | 
45 |   rclcpp::executors::SingleThreadedExecutor exec;
46 |   rclcpp::NodeOptions options;
47 |   options.use_intra_process_comms(true);
48 | 
49 |   auto kinect_component = std::make_shared<kinect_ros2::KinectRosComponent>(options);
50 |   auto depth_image_proc_component = get_depth_image_proc_component();
51 | 
52 |   exec.add_node(kinect_component);
53 |   exec.add_node(depth_image_proc_component);
54 | 
55 |   exec.spin();
56 | 
57 |   for (auto wrapper : _node_wrappers) {
58 |     exec.remove_node(wrapper.get_node_base_interface());
59 |   }
60 |   _node_wrappers.clear();
61 | 
62 |   rclcpp::shutdown();
63 | 
64 |   return 0;
65 | }
66 | 


--------------------------------------------------------------------------------
/src/kinect_ros2_component.cpp:
--------------------------------------------------------------------------------
  1 | #include "kinect_ros2/kinect_ros2_component.hpp"
  2 | #include <ament_index_cpp/get_package_share_directory.hpp>
  3 | 
  4 | using namespace std::chrono_literals;
  5 | 
  6 | namespace kinect_ros2
  7 | {
  8 | static cv::Mat _depth_image(cv::Mat::zeros(cv::Size(640, 480), CV_16UC1));
  9 | static cv::Mat _rgb_image(cv::Mat::zeros(cv::Size(640, 480), CV_8UC3));
 10 | 
 11 | static uint16_t * _freenect_depth_pointer = nullptr;
 12 | static uint8_t * _freenect_rgb_pointer = nullptr;
 13 | 
 14 | static bool _depth_flag;
 15 | static bool _rgb_flag;
 16 | 
 17 | KinectRosComponent::KinectRosComponent(const rclcpp::NodeOptions & options)
 18 | : Node("kinect_ros2", options)
 19 | {
 20 |   timer_ = create_wall_timer(1ms, std::bind(&KinectRosComponent::timer_callback, this));
 21 |   
 22 |   std::string pkg_share = ament_index_cpp::get_package_share_directory("kinect_ros2");
 23 | 
 24 |   //todo: use parameters
 25 |   depth_info_manager_ = std::make_shared<camera_info_manager::CameraInfoManager>(
 26 |     this, "kinect",
 27 |     "file://" + pkg_share + "/cfg/calibration_depth.yaml");
 28 | 
 29 |   rgb_info_manager_ = std::make_shared<camera_info_manager::CameraInfoManager>(
 30 |     this, "kinect",
 31 |     "file://" + pkg_share + "/cfg/calibration_rgb.yaml");
 32 | 
 33 |   rgb_info_ = rgb_info_manager_->getCameraInfo();
 34 |   rgb_info_.header.frame_id = "kinect_rgb";
 35 |   depth_info_ = depth_info_manager_->getCameraInfo();
 36 |   depth_info_.header.frame_id = "kinect_depth";
 37 | 
 38 |   depth_pub_ = image_transport::create_camera_publisher(this, "depth/image_raw");
 39 |   rgb_pub_ = image_transport::create_camera_publisher(this, "image_raw");
 40 | 
 41 |   int ret = freenect_init(&fn_ctx_, NULL);
 42 |   if (ret < 0) {
 43 |     RCLCPP_ERROR(get_logger(), "ERROR INIT");
 44 |     rclcpp::shutdown();
 45 |   }
 46 | 
 47 |   freenect_set_log_level(fn_ctx_, FREENECT_LOG_FATAL);
 48 |   freenect_select_subdevices(fn_ctx_, FREENECT_DEVICE_CAMERA);
 49 | 
 50 |   int num_devices = ret = freenect_num_devices(fn_ctx_);
 51 |   if (ret < 0) {
 52 |     RCLCPP_ERROR(get_logger(), "FREENECT - ERROR GET DEVICES");
 53 |     rclcpp::shutdown();
 54 |   }
 55 |   if (num_devices == 0) {
 56 |     RCLCPP_ERROR(get_logger(), "FREENECT - NO DEVICES");
 57 |     freenect_shutdown(fn_ctx_);
 58 |     rclcpp::shutdown();
 59 |   }
 60 |   ret = freenect_open_device(fn_ctx_, &fn_dev_, 0);
 61 |   if (ret < 0) {
 62 |     freenect_shutdown(fn_ctx_);
 63 |     RCLCPP_ERROR(get_logger(), "FREENECT - ERROR OPEN");
 64 |     rclcpp::shutdown();
 65 |   }
 66 |   ret =
 67 |     freenect_set_depth_mode(
 68 |     fn_dev_, freenect_find_depth_mode(
 69 |       FREENECT_RESOLUTION_MEDIUM,
 70 |       FREENECT_DEPTH_MM));
 71 |   if (ret < 0) {
 72 |     freenect_shutdown(fn_ctx_);
 73 |     RCLCPP_ERROR(get_logger(), "FREENECT - ERROR SET DEPTH");
 74 |     rclcpp::shutdown();
 75 |   }
 76 | 
 77 |   freenect_set_depth_callback(fn_dev_, depth_cb);
 78 |   freenect_set_video_callback(fn_dev_, rgb_cb);
 79 | 
 80 |   ret = freenect_start_depth(fn_dev_);
 81 |   if (ret < 0) {
 82 |     freenect_shutdown(fn_ctx_);
 83 |     RCLCPP_ERROR(get_logger(), "FREENECT - ERROR START DEPTH");
 84 |     rclcpp::shutdown();
 85 |   }
 86 | 
 87 |   ret = freenect_start_video(fn_dev_);
 88 |   if (ret < 0) {
 89 |     freenect_shutdown(fn_ctx_);
 90 |     RCLCPP_ERROR(get_logger(), "FREENECT - ERROR START RGB");
 91 |     rclcpp::shutdown();
 92 |   }
 93 | }
 94 | 
 95 | KinectRosComponent::~KinectRosComponent()
 96 | {
 97 |   RCLCPP_INFO(get_logger(), "stoping kinnect");
 98 |   freenect_stop_depth(fn_dev_);
 99 |   freenect_stop_video(fn_dev_);
100 |   freenect_close_device(fn_dev_);
101 |   freenect_shutdown(fn_ctx_);
102 | }
103 | 
104 | 
105 | /* The freenect lib stores the depth data in a static region of the memory, so the best way to
106 | create a cv::Mat is passing the pointer of that region, avoiding the need of copying the data
107 | to a new cv::Mat. This way, the callback only used to set a flag that indicates that a new image
108 | has arrived. The flag is unset when a msg is published */
109 | void KinectRosComponent::depth_cb(freenect_device * dev, void * depth_ptr, uint32_t timestamp)
110 | {
111 |   if (_depth_flag) {
112 |     return;
113 |   }
114 | 
115 |   if (_freenect_depth_pointer != (uint16_t *)depth_ptr) {
116 |     _depth_image = cv::Mat(480, 640, CV_16UC1, depth_ptr);
117 |     _freenect_depth_pointer = (uint16_t *)depth_ptr;
118 |   }
119 | 
120 |   _depth_flag = true;
121 | }
122 | 
123 | void KinectRosComponent::rgb_cb(freenect_device * dev, void * rgb_ptr, uint32_t timestamp)
124 | {
125 |   if (_rgb_flag) {
126 |     return;
127 |   }
128 | 
129 |   if (_freenect_rgb_pointer != (uint8_t *)rgb_ptr) {
130 |     _rgb_image = cv::Mat(480, 640, CV_8UC3, rgb_ptr);
131 |     _freenect_rgb_pointer = (uint8_t *)rgb_ptr;
132 |   }
133 | 
134 |   _rgb_flag = true;
135 | }
136 | 
137 | void KinectRosComponent::timer_callback()
138 | {
139 |   freenect_process_events(fn_ctx_);
140 |   auto header = std_msgs::msg::Header();
141 |   header.frame_id = "kinect_depth";
142 | 
143 |   auto stamp = now();
144 |   header.stamp = stamp;
145 |   depth_info_.header.stamp = stamp;
146 | 
147 |   if (_depth_flag) {
148 |     //convert 16bit to 8bit mono
149 |     // cv::Mat depth_8UC1(_depth_image, CV_16UC1);
150 |     // depth_8UC1.convertTo(depth_8UC1, CV_8UC1);
151 | 
152 |     auto msg = cv_bridge::CvImage(header, "16UC1", _depth_image).toImageMsg();
153 |     depth_pub_.publish(*msg, depth_info_);
154 | 
155 |     // cv::imshow("Depth", _depth_image);
156 |     // cv::waitKey(1);
157 |     _depth_flag = false;
158 |   }
159 | 
160 |   if (_rgb_flag) {
161 |     auto msg = cv_bridge::CvImage(std_msgs::msg::Header(), "rgb8", _rgb_image).toImageMsg();
162 |     rgb_pub_.publish(*msg, rgb_info_);
163 | 
164 |     // cv::imshow("RGB", _rgb_image);
165 |     // cv::waitKey(1);
166 |     _rgb_flag = false;
167 |   }
168 | }
169 | }
170 | 
171 | #include "rclcpp_components/register_node_macro.hpp"
172 | RCLCPP_COMPONENTS_REGISTER_NODE(kinect_ros2::KinectRosComponent)
173 | 


--------------------------------------------------------------------------------
/rviz/pointcloud.rviz:
--------------------------------------------------------------------------------
  1 | Panels:
  2 |   - Class: rviz_common/Displays
  3 |     Help Height: 78
  4 |     Name: Displays
  5 |     Property Tree Widget:
  6 |       Expanded:
  7 |         - /Global Options1
  8 |         - /Status1
  9 |         - /PointCloud21
 10 |       Splitter Ratio: 0.5
 11 |     Tree Height: 361
 12 |   - Class: rviz_common/Selection
 13 |     Name: Selection
 14 |   - Class: rviz_common/Tool Properties
 15 |     Expanded:
 16 |       - /2D Goal Pose1
 17 |       - /Publish Point1
 18 |     Name: Tool Properties
 19 |     Splitter Ratio: 0.5886790156364441
 20 |   - Class: rviz_common/Views
 21 |     Expanded:
 22 |       - /Current View1
 23 |     Name: Views
 24 |     Splitter Ratio: 0.5
 25 |   - Class: rviz_common/Time
 26 |     Experimental: false
 27 |     Name: Time
 28 |     SyncMode: 0
 29 |     SyncSource: PointCloud2
 30 | Visualization Manager:
 31 |   Class: ""
 32 |   Displays:
 33 |     - Alpha: 0.5
 34 |       Cell Size: 1
 35 |       Class: rviz_default_plugins/Grid
 36 |       Color: 160; 160; 164
 37 |       Enabled: true
 38 |       Line Style:
 39 |         Line Width: 0.029999999329447746
 40 |         Value: Lines
 41 |       Name: Grid
 42 |       Normal Cell Count: 0
 43 |       Offset:
 44 |         X: 0
 45 |         Y: 0
 46 |         Z: 0
 47 |       Plane: XY
 48 |       Plane Cell Count: 10
 49 |       Reference Frame: <Fixed Frame>
 50 |       Value: true
 51 |     - Class: rviz_default_plugins/Camera
 52 |       Enabled: true
 53 |       Image Rendering: background and overlay
 54 |       Name: Camera
 55 |       Overlay Alpha: 0.5
 56 |       Topic:
 57 |         Depth: 5
 58 |         Durability Policy: Volatile
 59 |         Filter size: 10
 60 |         History Policy: Keep Last
 61 |         Reliability Policy: Reliable
 62 |         Value: /kinect/depth/image_raw
 63 |       Value: true
 64 |       Visibility:
 65 |         Grid: true
 66 |         PointCloud2: true
 67 |         Value: true
 68 |       Zoom Factor: 1
 69 |     - Alpha: 1
 70 |       Autocompute Intensity Bounds: true
 71 |       Autocompute Value Bounds:
 72 |         Max Value: 10
 73 |         Min Value: -10
 74 |         Value: true
 75 |       Axis: Z
 76 |       Channel Name: intensity
 77 |       Class: rviz_default_plugins/PointCloud2
 78 |       Color: 255; 255; 255
 79 |       Color Transformer: Intensity
 80 |       Decay Time: 0
 81 |       Enabled: true
 82 |       Invert Rainbow: false
 83 |       Max Color: 255; 255; 255
 84 |       Max Intensity: 4096
 85 |       Min Color: 0; 0; 0
 86 |       Min Intensity: 0
 87 |       Name: PointCloud2
 88 |       Position Transformer: XYZ
 89 |       Selectable: true
 90 |       Size (Pixels): 3
 91 |       Size (m): 0.009999999776482582
 92 |       Style: Flat Squares
 93 |       Topic:
 94 |         Depth: 5
 95 |         Durability Policy: Volatile
 96 |         Filter size: 10
 97 |         History Policy: Keep Last
 98 |         Reliability Policy: Best Effort
 99 |         Value: /kinect/points
100 |       Use Fixed Frame: true
101 |       Use rainbow: true
102 |       Value: true
103 |   Enabled: true
104 |   Global Options:
105 |     Background Color: 48; 48; 48
106 |     Fixed Frame: kinect_depth
107 |     Frame Rate: 30
108 |   Name: root
109 |   Tools:
110 |     - Class: rviz_default_plugins/Interact
111 |       Hide Inactive Objects: true
112 |     - Class: rviz_default_plugins/MoveCamera
113 |     - Class: rviz_default_plugins/Select
114 |     - Class: rviz_default_plugins/FocusCamera
115 |     - Class: rviz_default_plugins/Measure
116 |       Line color: 128; 128; 0
117 |     - Class: rviz_default_plugins/SetInitialPose
118 |       Covariance x: 0.25
119 |       Covariance y: 0.25
120 |       Covariance yaw: 0.06853891909122467
121 |       Topic:
122 |         Depth: 5
123 |         Durability Policy: Volatile
124 |         History Policy: Keep Last
125 |         Reliability Policy: Reliable
126 |         Value: /initialpose
127 |     - Class: rviz_default_plugins/SetGoal
128 |       Topic:
129 |         Depth: 5
130 |         Durability Policy: Volatile
131 |         History Policy: Keep Last
132 |         Reliability Policy: Reliable
133 |         Value: /goal_pose
134 |     - Class: rviz_default_plugins/PublishPoint
135 |       Single click: true
136 |       Topic:
137 |         Depth: 5
138 |         Durability Policy: Volatile
139 |         History Policy: Keep Last
140 |         Reliability Policy: Reliable
141 |         Value: /clicked_point
142 |   Transformation:
143 |     Current:
144 |       Class: rviz_default_plugins/TF
145 |   Value: true
146 |   Views:
147 |     Current:
148 |       Class: rviz_default_plugins/Orbit
149 |       Distance: 10
150 |       Enable Stereo Rendering:
151 |         Stereo Eye Separation: 0.05999999865889549
152 |         Stereo Focal Distance: 1
153 |         Swap Stereo Eyes: false
154 |         Value: false
155 |       Focal Point:
156 |         X: 0
157 |         Y: 0
158 |         Z: 0
159 |       Focal Shape Fixed Size: true
160 |       Focal Shape Size: 0.05000000074505806
161 |       Invert Z Axis: false
162 |       Name: Current View
163 |       Near Clip Distance: 0.009999999776482582
164 |       Pitch: 0.6353980898857117
165 |       Target Frame: <Fixed Frame>
166 |       Value: Orbit (rviz)
167 |       Yaw: 1.2853977680206299
168 |     Saved: ~
169 | Window Geometry:
170 |   Camera:
171 |     collapsed: false
172 |   Displays:
173 |     collapsed: false
174 |   Height: 846
175 |   Hide Left Dock: false
176 |   Hide Right Dock: false
177 |   QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001f2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000233000000bc0000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
178 |   Selection:
179 |     collapsed: false
180 |   Time:
181 |     collapsed: false
182 |   Tool Properties:
183 |     collapsed: false
184 |   Views:
185 |     collapsed: false
186 |   Width: 1200
187 |   X: 28
188 |   Y: 28
189 | 


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