kinect V2 在ROS下使用

安装：
这里写链接内容

roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
rosrun kinect2_viewer kinect2_viewer sd cloud

kinect2 topic:

nvidia@tegra-ubuntu:~$ rostopic list
/image_view_1536997049745657505/output
/image_view_1536997049745657505/parameter_descriptions
/image_view_1536997049745657505/parameter_updates
/image_view_1536997299086481443/compressed/parameter_descriptions
/image_view_1536997299086481443/compressed/parameter_updates
/image_view_1536997299086481443/output
/image_view_1536997299086481443/parameter_descriptions
/image_view_1536997299086481443/parameter_updates
/image_view_1536997317037838897/compressed/parameter_descriptions
/image_view_1536997317037838897/compressed/parameter_updates
/image_view_1536997317037838897/output
/image_view_1536997317037838897/parameter_descriptions
/image_view_1536997317037838897/parameter_updates
/image_view_1536997451097461084/output
/image_view_1536997451097461084/parameter_descriptions
/image_view_1536997451097461084/parameter_updates
/image_view_1536997511248733086/output
/image_view_1536997511248733086/parameter_descriptions
/image_view_1536997511248733086/parameter_updates
/kinect2/bond
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color/compressed/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
/rosout
/rosout_agg

关于kinect话题类别
kinect的数据是分成3类的，包括hd，qhd，sd。
其中hd是原始分辨率，19201080，
qhd是他的一般920540，
sd是一半的一半。560*270。
在处理的时候可以根据要求，来接收不同的话题。我的电脑是8个g的内存，在处理的时候，如果调用qhd的数据，处理速度就还行，hd的就有点慢了

kinect V2 depthImage convert to laserscan
reference link添加链接描述

download deepthimage_to_laserscan

git clone  https://github.com/ros-perception/depthimage_to_laserscan.git

add a launch

<launch>
    <!-- start sensor-->            
    <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"/>

  <!-- Run the depthimage_to_laserscan node -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
    <!--输入图像-->
    <remap from="image" to="/kinect2/qhd/image_depth_rect"/>
    <!--相关图像的相机信息。通常不需要重新变形，因为camera_info将从与图像相同的命名空间订阅。-->
    <remap from="camera_info" to="/kinect2/qhd/camera_info" />
    <!--输出激光数据的话题-->
    <remap from="scan" to="/kinect_scan" /> 

        <!--激光扫描的帧id。对于来自具有Z向前的“光学”帧的点云，该值应该被设置为具有X向前和Z向上的相应帧。-->
    <param name="output_frame_id" value="/kinect2_depth_frame"/>
    <!--用于生成激光扫描的像素行数。对于每一列，扫描将返回在图像中垂直居中的那些像素的最小值。-->
    <param name="scan_height" value="30"/>
    <!--返回的最小范围（以米为单位）。小于该范围的输出将作为-Inf输出。-->
    <param name="range_min" value="0.45"/>
    <!--返回的最大范围（以米为单位）。大于此范围将输出为+ Inf。-->
    <param name="range_max" value="8.00"/>
  </node>
</launch>

rostopic list

nvidia@tegra-ubuntu:~$ rostopic list
/Kinect2scan
/clicked_point
/depthimage_to_laserscan/parameter_descriptions
/depthimage_to_laserscan/parameter_updates
/initialpose
/kinect2/bond
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
/kinect_scan
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static