1. View process
ps -ef | grep
2. Switch to the corresponding directory and activate
cd ~/camera_ros
source devel/setup.bash
3. Start the depth camera, corresponding to the launch method of the directory, and open roscore by default in the background
roslaunch openni2_launch/launch/openni2.launch
4. Publish the camera node
rostopic hz /camera/depth/points
rostopic hz /camera/rgb/image_raw
5. Start the QR code positioning program
roslaunch apriltag_ros continuous_detection.launch
6. Switch to the launch location in the catkin space
cd ~/catkin_ws/install/share/(自己的用户名)/launch
Open the launch file with gedit
7. Check rosnode to confirm whether the camera node is started
rosnode list
rosnode info /apriltag_ros_continuous_node
8. Check whether the Subscriber and Publisher of the RGB node of the camera exist
rostopic info /camera/color/image_raw
During the process, I found that it was not released, so I released it
rostopic hz /camera/color/image_raw
9. Check out rostopic
rostopic list
Check whether the camera-related ros topics are complete
10. View continuous_detection.launch
to adjust camera_frame and camera_name
Adjust the Default in the device namespace
and restart rosnode and depth camera
11. Adjust boot.launch
to set the camera to start automatically, the next chapter will focus on explaining
summary
Modify the .launch file first
, then release rostopic
, then start rosnode
and restart, roslaunch depth camera