90 lines
1.9 KiB
Markdown
90 lines
1.9 KiB
Markdown
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# 启动Kinect ROS驱动
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步骤：
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* 1.进入工作空间
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* 方法：在终端执行cd catkin_ws
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* 2.配置环境变量
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* 方法：在终端执行source devel/setup.bash
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* 3.启动驱动
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* 方法：在终端执行roslaunch kinect2_bridge kinect2_bridge.launch
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# 查看Kinect RGB图像
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<b style="color:red;">前提：启动Kinect ROS驱动</b>
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步骤：
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1.进入工作空间
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方法：在终端执行cd catkin_ws
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2.配置环境变量
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方法：在终端执行source devel/setup.bash
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3.在终端执行命令：rosrun image_view image_view image:=/kinect2/sd/image_color
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# 查看Kinect 深度图像
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<b style="color:red;">前提：启动Kinect ROS驱动</b>
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步骤：
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1.打开终端，输入rviz后弹出rviz窗口，点击窗口左下角【add】
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2.点击弹窗中【by topic】- 打开【/kinect2/sd/points】- 选择PointCloud2 -【ok】
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3.复制【kinect2_ir_optical_frame】到Global options->Fixed Frame，替换【map】
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# 在建图/导航/循迹中打开摄像头（查看周围环境）
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<b style="color:red;">以建图为例：</b>
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步骤：
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1.在建图launch文件里引入深度相机的驱动启动，保存
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2.启动建图
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rviz里新起一个话题
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方法：点击左下角【add】，选择【topic】，选择【/kinect2/hd/image_color】，下拉下来选最后一个，然后ctrl+s保存
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# 在建图/导航/循迹中显示深度数据
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步骤：
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<b style="color:red;">以建图为例：</b>
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<b style="color:red;">1.将kinect驱动加载到建图launch文件中（方法同上）</b>
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2.rviz里新起一个话题
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点击左下角【add】，选择【topic】，选择【/kinect2/sd/image_depth】，下拉下来选最后一个，然后ctrl+s保存
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