{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/229","repository_url":"https://api.github.com/repos/introlab/rtabmap_ros","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/229/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/229/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/229/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/229","id":310971916,"number":229,"title":"Mapping and Navigation with Turtlebot with Kinect2","user":{"login":"rui-cao","id":10601113,"avatar_url":"https://avatars3.githubusercontent.com/u/10601113?v=4","gravatar_id":"","url":"https://api.github.com/users/rui-cao","html_url":"https://github.com/rui-cao","followers_url":"https://api.github.com/users/rui-cao/followers","following_url":"https://api.github.com/users/rui-cao/following{/other_user}","gists_url":"https://api.github.com/users/rui-cao/gists{/gist_id}","starred_url":"https://api.github.com/users/rui-cao/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rui-cao/subscriptions","organizations_url":"https://api.github.com/users/rui-cao/orgs","repos_url":"https://api.github.com/users/rui-cao/repos","events_url":"https://api.github.com/users/rui-cao/events{/privacy}","received_events_url":"https://api.github.com/users/rui-cao/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":6,"created_at":"2018-04-03T19:44:51Z","updated_at":"2018-04-06T20:57:47Z","closed_at":null,"author_association":"NONE","body":"Hi,\r\n\r\nI am following your tutorial on Mapping and Navigation with [Turtlebot](http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot).\r\n\r\nI have problem to make the tutrtlebot to work with the Kinect2. The reason we found out is that turtlebot does not have 3d_sensor launch file to Kinect2 driver (Freenect2 and iai_kinect/kinect2_bridge). I tried to modify the original Freenect (driver to the older Kinect) launch file which is already in the turtlebot, to make it compatible with the Kinect2, by pointing to  kinect2_bridge.launch, and modified the arguments to make it compatible. However it does not work. If you are interested, more detail can be viewed from [my wiki page](https://github.com/rui-cao/SLAM_Project/wiki/Simulation-with-Turtlebot).\r\n\r\n\r\nWhile not using the turtlebot package, your package was working perfectly with Kinect2 on my computer, both in standalone and the ros version. I am using ROS Kinetic.\r\n\r\nThank you for your time!"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/379376138","html_url":"https://github.com/introlab/rtabmap_ros/issues/229#issuecomment-379376138","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/229","id":379376138,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars1.githubusercontent.com/u/2319645?v=4","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2018-04-06T20:57:47Z","updated_at":"2018-04-06T20:57:47Z","author_association":"MEMBER","body":"For the scan, maybe it is related to output_frame_id. You may want to show TF in RVIZ to debug TF.\r\n\r\nWhat is your fixed frame in global options of RVIZ? it should be /map to correctly see the data. Maybe there is a TF rotation missing somewhere. "}}
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