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kinetic_sensor_ros

How to use Kinetic sensor in ROS

OS : Ubuntu 16.04 LTS ROS version : Kinetic Compiler : catkin

How to use

  1. predependencies
  • PCL(Point Cloud Library) Packages $ sudo apt-get install ros-kinetic-pcl-conversion

$ sudo apt-get install ros-kinetic-pcl-msgs

$ sudo apt-get install ros-kinetic-pcl-ros

  • sensor_msgs package

$ sudo apt-get install ros-kinetic-sensor-msgs

  • roscpp package

$ sudo apt-get install ros-kinetic-roscpp

  1. Implement $ roscore $ rosrun openni_camera openni_node $ roslaunch openni_launch openni.launch $ rosrun chapter4_tutorials my_pcl_tutorial $ rviz

Fixed Frame을 "camera_depth_frame"으로 변경 Add 버튼을 눌러 PointCloud2를 추가한 후 Topic을 /camera/depth/points로 변경

/camera/depth/points : 기본적으로 Kinetic Sensor에서 뿌려주는 Data

/output : "$ rosrun chapter4_tutorials my_pcl_tutorial" 를 이용해 resolution을 조정한 Data

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