115 lines
2.1 KiB
Markdown
115 lines
2.1 KiB
Markdown
|
# 使用
|
|||
|
|
|
|||
|
|
## 准备
|
|||
|
|
|
|||
|
|
1. 连接相机的数据线（插在电脑USB3.0口上）与电源线
|
|||
|
|
2. 集线器亮起白色指示灯（说明供电正常）
|
|||
|
|
|
|||
|
|
## 测试
|
|||
|
|
|
|||
|
|
进入桌面 测试 - > kinect2测试
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
## 启动驱动
|
|||
|
|
|
|||
|
|
步骤：
|
|||
|
|
|
|||
|
|
1.进入工作空间，打开终端执行
|
|||
|
|
`cd catkin_ws`
|
|||
|
|
2.配置环境变量，在终端执行
|
|||
|
|
`source devel/setup.bash`
|
|||
|
|
3.启动驱动，在终端执行
|
|||
|
|
`roslaunch kinect2_bridge kinect2_bridge.launch`
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 查看Kinect RGB图像
|
|||
|
|
|
|||
|
|
步骤：
|
|||
|
|
|
|||
|
|
0.启动驱动
|
|||
|
|
|
|||
|
|
1.打开终端，执行 `rviz` ，打开RViz
|
|||
|
|
|
|||
|
|
2.添加图像话题
|
|||
|
|
点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 查看Kinect 深度图像
|
|||
|
|
|
|||
|
|
步骤：
|
|||
|
|
|
|||
|
|
0.启动驱动
|
|||
|
|
|
|||
|
|
1.打开终端，执行 `rviz` ，打开RViz
|
|||
|
|
|
|||
|
|
2.添加深度话题
|
|||
|
|
点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 在建图/导航/循迹中加入kinect
|
|||
|
|
|
|||
|
|
步骤：
|
|||
|
|
|
|||
|
|
以建图为例：
|
|||
|
|
|
|||
|
|
0.找到launch文件
|
|||
|
|
|
|||
|
|
```
|
|||
|
|
AutolaborOS-2.2.1 及以上系统，文件路径:catkin_ws\src\launch\autolabor_navigation_launch\launch\real_environment
|
|||
|
|
|
|||
|
|
2.2.1 及以上版本，仅需修改*_base.launch文件
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
AutolaborOS-2.2.1 以下系统，文件路径：catkin_ws\src\launch\autolabor_navigation_launch\launch
|
|||
|
|
|
|||
|
|
2.2.1 以下版本，需要修改对应应用launch文件
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
OS系统->设置->详细信息可查看系统版本号，如无版本号则为2.2.1以下版本。
|
|||
|
|
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
1.打开launch文件，以【second_generation_basic_base.launch】为例，右键打开编辑
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
2.将下面内容粘贴至launch文件中，保存，关闭
|
|||
|
|
|
|||
|
|
```
|
|||
|
|
<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"></include>
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
3.启动建图
|
|||
|
|
|
|||
|
|
4.添加图像话题
|
|||
|
|
|
|||
|
|
点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存
|
|||
|
|
|
|||
|
|
5.添加深度话题
|
|||
|
|
|
|||
|
|
点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存
|
|||
|
|
|
|||
|
|
|
|||
|
|
## 话题/Topics
|
|||
|
|
|
|||
|
|
[话题说明](https://github.com/code-iai/iai_kinect2/blob/master/kinect2_bridge/README.md#topics)
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|