首先安装Ros软件包
1) openni_launch
sudo apt-get install ros-kinetic-openni-camera
sudo apt-get install ros-kinetic-openni-launch
rosstack profile
rospack profile
2) freenect_launch
sudo apt-get install ros-kinetic-freenect-camera ros-kinectic-freenect-stack ros-kinetic-freenect-launch
测试Kinect V1
roslaunch openni_launch openni.launch
建议大家先运行该launch文件,等待终端中出现无设备连接的提醒再连接Kinect,不然有时会出现No image的情况
此时相机已经被启动,如果相机尚未标定可能会出现Warning 提示找不到yaml文件,标定方法在下篇博客会提到
rosrun rviz rviz
运行rviz,添加topic即可看到相机图像
/camera/depth/image 获取深度图
/camera/rgb/image_color 获取rgb图