1。安装
$ sudo apt-get install ros-hydro-openni-camera ros-hydro-openni-launch
2。打开
roscore
rosrun openni_camera openni_node可不要
roslaunch openni_launch openni.launch
rosrun image_view image_view image:=/camera/rgb/image_color//打开彩色摄像头
rosrun image_view image_view image:=/camera/depth/image //打开深度摄像头