Camera launchers: usbcam/xtion/astra sensor
Important: plug cameras in direct USB ports (not to hubs).
Note: installation is not necessary when using dockerized components.
Download the following packages in your catkin workspace and compile them with catkin_make:
Astra:
Xtion:
- ros-kinetic-openni2-camera
- ros-kinetic-openni2-launch
- Run usbcam/xtion/astra node
Launch
roslaunch astra.launch [viewimage:=true] [videoserver:=true]
or
roslaunch usbcam.launch [viewimage:=true] [videoserver:=true]
or
roslaunch xtion2.launch
To visualize images and depth data
rosrun image_view image_view image:=/rgb/image_raw
If using videoserver
http:https://localhost:9090/
Note: To visualize images from another PC, export ROS_MASTER_URI. This feature may be very slow specially if using a wireless network.
rostopic pub /takephoto ... "send <server> <port> [<width> <height>]"