启动kinect2
在工作空间catkin_ws先source一下再启动kinect_bridge
source devel/setup.bash
roslaunch kinect2_bridge kinect2_bridge.launch
查看图像的话首先在工作空间catkin_ws先source一下再启动kinect_viewer
source devel/setup.bash
rosrun kinect2_viewer kinect2_viewer
输入以下指令开始录制bag包
rosbag record /tf /kinect2/sd/points /kinect2/sd