You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

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Interfacing Kinect and Asus Xtion Pro with ROS

The webcams that we have worked with until now can only provide 2D visual information of their surroundings. To get 3D information about our surroundings, we must use 3D vision sensors or range finders, such as laser finders. Some of the 3D vision sensors that we will be discussing in this chapter are Kinect, Asus Xtion Pro, Intel RealSense, and Hokuyo laser scanner:

Figure 10.7 – Top: Kinect; bottom: Asus Xtion Pro

The first two sensors we are going to discuss are Kinect and Asus Xtion Pro. Both of these devices need the Open Source Natural Interaction (OpenNI) driver library to operate in Linux. OpenNI acts as a middleware between the 3D vision devices and the application software. The OpenNI driver is integrated into ROS, and we can install these drivers by using the following commands. These packages help us interface OpenNI-supported devices such as Kinect and Asus Xtion Pro:

sudo apt install...

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Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

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