Friday, August 24, 2018

Use Xtion on ROS indigo

Use Xtion on ROS indigo


Environment: ROS indigo and Ubuntu 14.04

Note:
If using usb 3.0 or above, should turn it down in BIOS(Advance->USB->xhci) disable xhci

 Install dependencies:
$ sudo apt-get install ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch

Install package rqt and useful plugins: sudo apt-get install ros-indigo-rqt ros-indigo-rqt-common-plugins ros-indigo-rqt-robot-plugins

 Open Terminal 1
$ roscore

 Open Terminal 2: launch openni2.launch
$ roslaunch openni2_launch openni2.launch

 Open Terminal 3: Open RVIZ to visualize
$ rosrun rviz rviz
Show the depth image by adding its topic


Finally, show IR, Depth, RGB image, and point cloud by adding all of their topics in Rviz:



You can also try my Gist:
https://gist.github.com/tzutalin/175776fe02a9496a7778

go to link download
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