How to use Kinetic sensor in ROS
OS : Ubuntu 16.04 LTS ROS version : Kinetic Compiler : catkin
- 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
- 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