openni2_camera

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ROS wrapper for openni 2.0

openni2_camera 최신버젼 다운로드

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# openni2_camera

## Introduction
ROS wrapper for openni 2.0

Note: openni2_camera supports xtion devices, but not kinects. For using a kinect with ROS, try the freenect stack: http://www.ros.org/wiki/freenect_stack

## Contribution

Branching:
- ROS2:
   - The [ros2](https://github.com/ros-drivers/openni2_camera/tree/ros2) branch supports Rolling
   - The [jazzy](https://github.com/ros-drivers/openni2_camera/tree/jazzy) branch supports Jazzy and Kilted
   - The [iron](https://github.com/ros-drivers/openni2_camera/tree/iron) branch supports Humble to Iron
   - openni2_launch has NOT been ported yet
- ROS1: [ros1](https://github.com/ros-drivers/openni2_camera/tree/ros1) branch (no longer maintained)

## Developer document
   - [docs.ros.org/openni2_launch](http://docs.ros.org/en/melodic/api/openni2_launch/html/)
   - Source of the doc: [openni2_launch/doc](./openni2_launch/doc/)

## Running ROS2 Driver

An example launch exists that loads just the camera component:

```
ros2 launch openni2_camera camera_only.launch.py
```

If you want to get a PointCloud2, use:

```
ros2 launch openni2_camera camera_with_cloud.launch.py
```

## Migration from ROS1

* The rgb/image topic has been renamed to rgb/image_raw for consistency.
 * The nodelet has been refactored into an rclcpp component called
   "openni2_wrapper::OpenNI2Driver". See the launch folder for an example
   of how to start this.
 * rgbd_launch and openni2_launch have not yet been ported (although it
   is now possible since lazy pub/sub is implemented). It is recommended
   to create a launch file with the specific pipeline you want.
   See the launch folder for an example.

## Known Issues

* Using "use_device_time" is currently broken.

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