ROS Indigo下安装测试Xtion Pro

参考链接：
https://blog.youkuaiyun.com/chenxingwangzi/article/details/48825767
https://www.cnblogs.com/cj2014/p/4007165.html
https://www.ncnynl.com/archives/201703/1440.html
https://blog.youkuaiyun.com/yangtze_1006/article/details/51569251

博主已经事先安装好了ROS Indigo，那我们先安装安装openni2_camera

udo apt-get install ros-indigo-openni2-camera

再安装openni2_launch

sudo apt-get install ros-indigo-openni2-launch

在ROS下启动Xtion

方法一：使用rviz启动

新终端，执行roscore

roscore

新终端，执行openni2_launch

roslaunch openni2_launch openni2.launch

新终端，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 （这里我还没实现）

方法二：使用命令行启动

roslaunch openni2_launch openni2.launch

rosrun topic_tools mux /camera/image_raw /camera/rgb/image_raw

rosrun image_view image_view image:=/camera/image_raw

方法三：在rqt窗口启动

打开终端

roscore

打开终端

roslaunch openni2_launch openni2.launch

打开终端，执行

rqt

在“rqt”窗口中选择 “Plugins” -> “Visualization” -> “Image View“

在选择框中选取你想看的图像类型，如

/camera/rgb/image_rect_color

/camera/depth/image

方法四：

roscore

roslaunch openni2_launch openni2.launch

rosrun rqt_image_view rqt_image_view

转载于:https://www.cnblogs.com/chenxuanzhen/p/9070344.html