ros显示kinect v1彩色图和深度图问题

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利用ros显示kinect彩色图和深度图，参考网址：http://blog.csdn.net/u012526003/article/details/51003347

出现问题：（环境：ubuntu 16.04 + ros kinetic + kinect v1 ）

通过rviz可以显示深度图，输入rosrun image_view disparity_view image:=/camera/depth/disparity后出现窗口，但无法显示深度图，等了一会窗口变黑，然后就没有然后了。换成输入rosrun image_view image_view image:=/camera/depth/image后提示：Unable to convert '32FC1' image for display: 'cv_bridge.cvtColorForDisplay() while trying to convert image from '32FC1' to 'bgr8' an exception was thrown ([32FC1] is not a color format. but [bgr8] is. The conversion does not make sense)'

参考网址：http://answers.ros.org/question/245792/cannot-see-depth-image-kinect-unable-to-convert-32fc1-image-for-display-cv_bridgecvtcolorfordisplay/

解决方案：输入rosrun image_view image_view image:=/camera/depth/image_raw后，成功显示深度图。