写在前面
上一篇文章,记录了Ubuntu的下安装Kinect2的驱动,以及在ROS下运行的桥梁。现在已经迫不及待的要跑下ORB-SLAM2下的RGB-d接口。
修改ORB-SLAM2
安装好Kinect2的驱动后,执行:
roslaunch kinect_bridge kinect_bridge.launch
然后执行以下命令查询ROS发布的话题
rostopic list
话题如下:
/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_mo