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 live摄像头
• 测试环境：ubuntu 14.04 + ROS indigo
• 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

• 测试使用

• 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

• 测试使用

• 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