S1:启动
cd catkin_ws
source ./devel/setup.sh
roslaunch iris_camera run.launch image_mode:=rgb_depth
S2:录制
rosbag record /cam2/image_depth /cam2/pseudo_color /cam3/trichromatic
S3:回放
roscore
rosbag play -l 2019-08-07-09-47-07.bag
S5:可视化
rviz
或者
rqt_image_view