roslaunch rgbdslam openni+rgbdslam.launch is for Kinect V1.不支持kinect2和realsense。
以下是解决不支持kinect2的方法,写一个支持Kinect2的:
1、Create a file named rgbdslam_kinect2.launch with contents like below.(内容附下)
(创建rgbdslam_kinect2.launch)
2、在两个终端分别运行:
roslaunch rgbdslam rgbdslam_kinect2.launch (可视化窗口)
roslaunch kinect2_bridge kinect2_bridge _fps_limit:=2 (数据传输,2为帧数可改)
roslaunch kinect2_bridge kinect2_bridge.launch
内容:
<launch> <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen">
<param name="config/topic_image_depth" value="/kinect2/qhd/image_depth_rect"/>
<param name="config/topic_points" value=""/> <!--if empty, poin