首先安装驱动:
sudo apt-get install ros-indigo-openni-camera ros-indigo-openni-launch
rosstack profile
rospack profile
如果无错误提示则安装成功
1.运行节点
roscore
rosrun openni_camera openni_node
roslaunch openni_launch openni.launch
2.查看传感器获取的图像(RGB):
rosrun image_view image_view image:=/camera/rgb/image_color
3.查看深度传感器获取图像(查看深度数据):
rosrun image_view image_view image:=/camera/depth/image
如果可以分别查看到彩色图像和深度图像则表明安装成功