Turbot3入门教程-测试-kinect测试

Turbot3入门教程-测试-kinect测试

说明

• 介绍如何测试kinect

操作步骤

• [Remote PC] 启动roscore

$ roscore 

• [Turbot3] 启动底盘

$ roslaunch turbot3_bringup minimal.launch

• [Turbot3] 启动相机

$ roslaunch freenect_launch freenect-registered-xyzrgb.launch

• [Remote PC] 监听是否获取到图像数据

 $ rostopic hz /camera/rgb/image_color

subscribed to [/camera/rgb/image_color]
average rate: 30.120
	    min: 0.028s max: 0.040s std dev: 0.00230s window: 24
average rate: 30.089
	    min: 0.028s max: 0.040s std dev: 0.00200s window: 54
average rate: 30.065
	    min: 0.028s max: 0.040s std dev: 0.00198s window: 84

• [Remote PC] 执行显示图像

$ rosrun turbot3_tools test_kinect_color

• [Remote PC] 执行显示深度图

$ rosrun turbot3_tools test_kinect_depth