1.打开上一节创建的工作空间
cd ~/laserscanner_ws
source devel/setup.bash
2.运行相机
roslaunch sensor_sim_gazebo camera.launch //Mono camera
roslaunch sensor_sim_gazebo stereo_camera.launch //Stereo camera
![在这里插入图片描述](https://img-blog.csdnimg.cn/20200707174321107.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L1pKX19fX19X,size_16,color_FFFFFF,t_70)
添加一些障碍物
3.显示相机图像
rosrun image_view image_view image:=/sensor/camera1/image_raw
![在这里插入图片描述](https://img-blog.csdnimg.cn/20200707174428933.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L1pKX19fX19X,size_16,color_FFFFFF,t_70)