参考http://www.ncnynl.com/archives/201609/794.html
安装openni和freenect驱动
- 安装驱动
$ sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*
$ rospack profile
设置环境变量
- 做任何事情之前,检查turtlebot默认的3D传感器的环境变量和确定输出(仅在TUrtlebot上网本操作)
echo $TURTLEBOT_3D_SENSOR
#Output: kinect
- 如果你看到一个3D传感器,例如asus_xtion_pro,您将需要设置环境变量的默认值,修改和重新启动终端:
echo "export TURTLEBOT_3D_SENSOR=kinect" >> .bashrc
- 如果是asus_xtion_pro相机,设置为asus_xtion_pro。
启动相机
- 在Turtlebot终端执行:
roslaunch turtlebot_bringup minimal.launch
- 在Turtlebot终端,新开终端,输入
#针对Microsoft Kinect:
$ roslaunch freenect_launch freenect-registered-xyzrgb.launch (新版本)
或roslaunch freenect_launch freenect.launch
$ roslaunch openni_launch openni.launch (或旧版本)
#针对Asus Xtion, Xtion Pro, or Primesense 1.08/1.09 cameras:
$ roslaunch openni2_launch openni2.launch depth_registration:=true
测试相机
- 图像,在工作站打开终端执行:
- 命令:
$ rosrun image_view image_view image:=/camera/rgb/image_raw