参考博客
https://blog.csdn.net/wodiuleimou/article/details/89556653
操作步骤
- 安装libfreenect,需要安装ros-devel版本的分支
git clone -b ros-devel https://github.com/ros-drivers/libfreenect.git
cd libfreenect
mkdir build
cd build
cmake -L ..
make
sudo make install
- 安装freenect_stack
cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/freenect_stack.git
cd ~/catkin_ws
catkin_make
- 运行启动文件
roslaunch freenect_launch freenect.launch
运行后就可以在rviz里看到相关信息了或者运行
rosrun rqt_image_view rqt_image_view
查看相机相关信息