安装：
这里写链接内容
roslaunch kinect2_bridge kinect2_bridge.launch
roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
rosrun kinect2_viewer kinect2_viewer sd cloud
kinect2 topic:
nvidia@tegra-ubuntu:~$ rostopic list
/image_view_1536997049745657505/output
/image_view_1536997049745657505/parameter_descriptions
/image_view_1536997049745657505/parameter_updates
/image_view_1536997299086481443/compressed/parameter_descriptions
/image_view_1536997299086481443/compressed/parameter_updates
/image_view_1536997299086481443/output
/image_view_1536997299086481443/parameter_descriptions
/image_view_1536997299086481443/parameter_updates
/image_view_1536997317037838897/compressed/parameter_descriptions
/image_view_1536997317037838897/compressed/parameter_updates
/image_view_1536997317037838897/output
/image_view_1536997317037838897/parameter_descriptions
/image_view_1536997317037838897/parameter_updates
/image_view_1536997451097461084/output
/image_view_1536997451097461084/parameter_descriptions
/image_view_1536997451097461084/parameter_updates
/image_view_1536997511248733086/output
/image_view_1536997511248733086/parameter_descriptions
/image_view_1536997511248733086/parameter_updates
/kinect2/bond
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color/compressed/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
/rosout
/rosout_agg关于kinect话题类别
kinect的数据是分成3类的，包括hd，qhd，sd。
其中hd是原始分辨率，1920*1080，
qhd是他的一般920*540，
sd是一半的一半。560*270。
在处理的时候可以根据要求，来接收不同的话题。我的电脑是8个g的内存，在处理的时候，如果调用qhd的数据，处理速度就还行，hd的就有点慢了