ROS中调用深度摄像头

ROS版本：kinect
PX4固件版本：v1.11.0-beta2

记录一下试错的过程

topic:
/iris_0/stereo/camera/left/camera_info
/iris_0/stereo/camera/left/image_raw
/iris_0/stereo/camera/left/parameter_descriptions
/iris_0/stereo/camera/left/parameter_updates
/iris_0/stereo/camera/right/camera_info
/iris_0/stereo/camera/right/image_raw
/iris_0/stereo/camera/right/parameter_descriptions
/iris_0/stereo/camera/right/parameter_updates

打开终端后键入 rosrun image_view stereo_view stereo:=/iris_0/stereo/camera image:=age_raw

没有图像并出现warning，给出了几个可能的问题，其中就有另一个节点未打开的问题。

> Possible issues: 	* stereo_image_proc is not running. 	  Does `rosnode
> info /stereo_view_1589876794090717647` show any connections? 	* The
> cameras are not synchronized. 	  Try restarting stereo_view with
> parameter _approximate_sync:=True 	* The network is too slow. One or
> more images are dropped from each triplet. 	  Try restarting
> stereo_view, increasing parameter 'queue_size' (currently 5)

解决方案：

先执行

ROS_NAMESPACE=iris_0/stereo/camera rosrun stereo_image_proc stereo_image_proc

再执行

rosrun image_view stereo_view stereo:=/iris_0/stereo/camera image:=age_raw

参考资料
http://wiki.ros.org/image_proc
http://wiki.ros.org/stereo_image_proc