Notes on Invocation

RGB Disclaimer: Please read about Offscreen Rendering (OpenRAVE RGB Cameras) first.
Depth Disclaimer: Make sure you use ODE as your Collision Checker (e.g. via openrave --collison ode or switching within the OpenRAVE GUI).
These examples use the yarpdev executable to load YarpOpenraveRGBDSensor directly. However, you can find more interesting examples loading YarpOpenraveRGBDSensor via OpenraveYarpPluginLoader at ../../OpenravePlugins/OpenraveYarpPluginLoader#yarpopenravergbdsensor.

Example 1

Open YarpOpenraveRGBDSensor device with data/testwamcamera.env.xml environment, view, apply to robot index 0, rgbSensor index 0 and depthSensorIndex 1 (name and view are required):

yarpdev --device YarpOpenraveRGBDSensor --env data/testwamcamera.env.xml --robotIndex 0 --rgbSensorIndex 0 --depthSensorIndex 3 --view --name /BarrettWAM --collision ode

Python equivalent: examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB

Then open a viewer for RGB:

yarpview --name /yarpview/rgb/img:i

Connect the viewer for RGB (remove mjpeg if not available; change /BarrettWAM to /ecroSim for alternative):

yarp connect /BarrettWAM/rgbImage:o /yarpview/rgb/img:i mjpeg

Open another viewer for depth:

yarpview --name /yarpview/depth/img:i

Connect the viewer for depth (remove udp+recv.portmonitor+type.dll+file.depthimage_to_mono if not available; change /BarrettWAM to /ecroSim for alternative):

yarp connect /BarrettWAM/depthImage:o /yarpview/depth/img:i udp+recv.portmonitor+type.dll+file.depthimage_to_mono

Example 2 (no RGB)

yarpdev --device YarpOpenraveRGBDSensor --env openrave/mapping_room.env.xml --robotIndex 0 --depthSensorIndex 0 --view --name /ecroSim --collision ode

Python equivalent: examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB.py

Open a viewer for depth:

yarpview --name /yarpview/depth/img:i

Connect the viewer for depth (remove udp+recv.portmonitor+type.dll+file.depthimage_to_mono if not available; change /BarrettWAM to /ecroSim for alternative):

yarp connect /BarrettWAM/depthImage:o /yarpview/depth/img:i udp+recv.portmonitor+type.dll+file.depthimage_to_mono