ROS Kinetic 下的xtion的使用

安装依赖项

执行：

sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-openni2-camera ros-kinetic-openni2-launch

进行测试

打开操作台终端(Ctrl+Alt+t):
执行：

roscore

打开另一个操作台终端(Ctrl+Alt+t):
执行：

roslaunch openni2_launch openni2.launch

新开一个操作台终端 (Ctrl+Alt+t):
执行：

rviz

添加点云CloudPoint2

选好固定坐标系，选择topic，即可看到我点云的样子了。

调整一下，还能看到彩色的我

使用一下

首先安装pcl

    sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl  
    sudo apt-get update  
    sudo apt-get install libpcl1.7  

下面是一段降采样的程序

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
// PCL specific includes
 #include <pcl_conversions/pcl_conversions.h>
#include <pcl-1.7/pcl/point_cloud.h>
#include <pcl-1.7/pcl/point_types.h>
#include <pcl-1.7/pcl/filters/voxel_grid.h>
#include <pcl-1.7/pcl/io/pcd_io.h>

ros::Publisher pub;
void cloud_cb (const sensor_msgs::PointCloud2 &input)
{
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::PointCloud<pcl::PointXYZ> cloud_downsampled;
    sensor_msgs::PointCloud2 output;

    pcl::fromROSMsg(input, cloud);

    pcl::VoxelGrid<pcl::PointXYZ> voxelSampler;
    voxelSampler.setInputCloud(cloud.makeShared());
    voxelSampler.setLeafSize(0.01f, 0.01f, 0.01f);
    voxelSampler.filter(cloud_downsampled);

    pcl::toROSMsg(cloud_downsampled, output);
    //output.header.frame_id = "base_link";

    pub.publish(output);
}

int main (int argc, char** argv)
{
    // Initialize ROS
    ros::init (argc, argv, "c8_kinect");
    ros::NodeHandle nh;
    // Create a ROS subscriber for the input point cloud
    ros::Subscriber sub = nh.subscribe ("/camera/depth/points", 1, cloud_cb);
    // Create a ROS publisher for the output point cloud
    pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
    // Spin
    ros::spin ();
}

启动文件

<launch>

  <include  file="$(find openni2_launch)/launch/openni2.launch">
    <!--arg name="config" value="true"/-->
  </include>

  <node name="rgbd_pub" pkg="tf" type="static_transform_publisher" args="1  0  0  0  0  0.70711  0.70711  /odom /camera_link 1000"/>
  <node name="myxtion_node" pkg="xtion_pcl" type="c8_kinect"/>

  <arg name="command_args" value="-d $(find xtion_pcl)/launch/xtion.rviz" />  

  <node name="rviz" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
  </node>

  <!--node name="pcl_visualize_node" pkg="xtion_pcl" type="pcl_visualize"/-->
</launch>

这就能看到采样后的我了

OpenCV的安装，官方文档：
https://docs.opencv.org/3.3.0/d7/d9f/tutorial_linux_install.html

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