环境:
系统: Ubuntu16.04
ROS: Kinetic
1, 将 MYNT-EYE-D-SDK 升级到 1.7.1 版本.
2, 修改 wrappers/ros/src/mynteye_wrapper_d/launch/mynteye.launch 147行:
将 type_mono16 修改为 type_16uc1 (因为 depthimage_to_laserscan 不支持 MONO16 的数据格式)
3, 安装 ROS 官方 depthimage_to_laserscan:
sudo apt-get install ros-kinetic-depthimage-to-laserscan
4, 新建一个 launch 文件,文件内容如下:
<?xml version="1.0"?>
<launch>
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan_loader" args="standalone depthimage_to_laserscan/DepthImageToLaserScanNodelet" output="screen">
<param name="scan_height" value="1" />
<param name="output_frame_id" value="depth_to_laserscan" />
<param name="range_min" value="0.45" />
<param name="range_max" value="10" />
<remap from="image" to="/mynteye/depth/image_raw" />
<remap from="camera_info" to="/mynteye/depth/camera_info" />
</node>
<node pkg="tf" type="static_transform_publisher" name="transform_coordinate" args="1 0 0 0 0 0 1 base_link depth_to_laserscan 100">
</node>
</launch>
5, 新开一个终端,运行小觅相机的 mynteye.launch:
source wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
6, 再新开一个终端,运行刚才新建的 launch 文件:
roslaunch depth.launch (depth.launch 为我刚才新建的 launch 文件名)
7, 再新开一个终端, 运行 rviz 即可查看效果
(相机对着平整的墙壁或者天花板更容易看出来效果)