2021-12-21 15:12:29 +08:00
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# 使用
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## 准备
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1. 连接相机的数据线（插在电脑USB3.0口上）与电源线
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2. 集线器亮起白色指示灯（说明供电正常）
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## 测试
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进入桌面 测试 - > kinect2测试
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## 启动驱动
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步骤：
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1.进入工作空间，打开终端执行
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`cd catkin_ws`
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2.配置环境变量，在终端执行
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`source devel/setup.bash`
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3.启动驱动，在终端执行
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`roslaunch kinect2_bridge kinect2_bridge.launch`
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# 查看Kinect RGB图像
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步骤：
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0.启动驱动
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1.打开终端，执行 `rviz` ，打开RViz
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2.添加图像话题
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点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存
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# 查看Kinect 深度图像
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步骤：
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0.启动驱动
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1.打开终端，执行 `rviz` ，打开RViz
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2.添加深度话题
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点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存
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# 在建图/导航/循迹中加入kinect
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步骤：
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以建图为例：
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0.找到launch文件
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```
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AutolaborOS-2.2.1 及以上系统，文件路径:catkin_ws\src\launch\autolabor_navigation_launch\launch\real_environment
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2.2.1 及以上版本，仅需修改*_base.launch文件
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AutolaborOS-2.2.1 以下系统，文件路径：catkin_ws\src\launch\autolabor_navigation_launch\launch
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2.2.1 以下版本，需要修改对应应用launch文件
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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。
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```
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1.打开launch文件，以【second_generation_basic_base.launch】为例，右键打开编辑
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2.将下面内容粘贴至launch文件中，保存，关闭
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```
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<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"></include>
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```
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3.启动建图
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4.添加图像话题
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点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存
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5.添加深度话题
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点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存
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## 话题/Topics
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[话题说明](https://github.com/code-iai/iai_kinect2/blob/master/kinect2_bridge/README.md#topics)
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2021-12-21 15:14:43 +08:00
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## 资料
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* [iai_kinect2_github](https://github.com/code-iai/iai_kinect2)
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2021-12-21 15:12:29 +08:00
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