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ROS与深度相机入门教程-在ROS使用xtion pro live摄像头
说明：
- 介绍如何在ros安装和使用xtion pro摄像头
- 与xtion pro没有提供RGB功能，xtion pro live提供RGB
- openni_launch包介绍
- openni2_launch包介绍
- openni2_camera包介绍
- rgbd_launch包介绍
openni_launch安装
- deb包安装
sudo apt-get install ros-indigo-openni-kinect
- 源码包安装
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/openni_launch.git
$ cd ~/catkin_ws
$ catkin_make
测试
- 新终端，执行roscore
$ roscore
- 新终端，执行openni_launch
$roslaunch openni_launch openni.launch
- 新终端，执行image_view显示图像
$ rosrun image_view image_view image:=/camera/rgb/image_color
openni2_launch安装
- 安装驱动
sudo apt-get install ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch
测试
- 新终端，执行roscore
$ roscore
-
新终端，执行openni2_launch
$ roslaunch openni2_launch openni2.launch
-
实时观看rgb、深度、点云
$ rosrun rviz rviz
- add camera、pointcloud2 选择正确的topic就可以实时看到xtion返回的数据了