====== Openni_Launch  (ROS package)======
{{tag>software Kinect tutorial ros_package}}

This package is used to retrieve the informations from the kinect http://wiki.ros.org/openni_launch

===== Installation =====
 In order to install the drivers and openni_launch, follow the instructions on http://yuechuan.me/ubuntu-12-04-%E4%B8%8A%E9%85%8D%E7%BD%AE-ros-%E5%92%8C-kinect/

===== Instructions =====

First, you need to install the package

Then, if you want to see the images :

Open a terminal : 
	roslaunch openni_launch openni.launch

Open a new terminal :
 
to see the RGB image :    
	rosrun image_view image_view image:=/camera/rgb/image_color

to see the depth image :    
	rosrun image_view image_view image:=/camera/depth/image

to see the disparity image : 
	rosrun image_view disparity_view image:=/camera/depth/disparity

to see the cloud point : 
	rosrun rviz rviz 

Then, you have to configurate rviz, you can use the following tutorial http://wiki.ros.org/openni_launch/Tutorials/QuickStart