Openni_Launch (ROS package)

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

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/

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