Setting Up Color Video Stream

Note: These instructions are now obsolete and we are working on providing updated instructions. Please contact support@clearpathrobotics.com for more information.

  1. Install the libuvc_camera by running sudo apt-get install ros-indigo-libuvc_camera⁠⁠⁠⁠. The ROS_MASTER_URI tells the rest of the nodes at which address they can find the ROS master.
  2. Start roscore in a terminal and run the uvc camera driver by rosrun libuvc_camera camera_node. This hsould give an error which is related to the Udev rules as shown below.
[ INFO] [1478626609.932998554]: Opening camera with vendor=0x0, product=0x0, serial="", index=0
[ERROR] [1478626609.933144867]: Permission denied opening /dev/bus/usb/XXX/XXX
  1. Change the permission with sudo chmod o+w /dev/bus/usb/XXX/XXX. Note that the values of XXX/XXX depend on your system.
  2. Launch the Turtlebot as normal. Open a new terminal and change the default namespace with export ROS_NAMESPACE=camera/rgb/. Run the uvc driver using rosrun libuvc_camera camera_node.
  3. Open rViz and add aDepthCloud display type. Select /camera/depth/image_raw as the Depth Map Topic and /camera/rbg/image_raw as the Color Image Topic. This will show the depth cloud in rViz.