kinect2 with icp_odometry

[zzzzzhw]

Hi

Can i use icp_odometry when i only have a kinect2 (without a lidar)?

I want to use icp_odometry with kinect2. Also, i ran with a rosbag.

I modified the lauchfile(before is icp_odometry) with reference to test_icp_odometry.launch.

but here are some error:



The node graph is like this:



TF tree:



here is a test rosbag and launch file:
test_rosbag.lz
1kinect_icp.launch

Please help me, thank you!!

[matlabbe]

Hi,

Set Icp/PointToPlaneRadius to 0.0. Note that I couldn't be able to extract properly the lz file (use zip or tar.gz instead).

cheers,
Mathieu