1. 安装驱动
sudo apt-get install libfreenect-dev
sudo apt-get install ros-indigo-freenect-launch
2.启动:roslaunch freenect_launch freenect.launch
3查看: rosrun image_view image_view image:=/camera/depth/image
rosrun image_view image_view image:=/camera/rgb/image_coro
rosrun rqt_image_view rqt_image_view