Once the packages and drivers have been built and installed, we can plug the Microsoft Kinect sensor into the Linux system or PC, and then run the following command to run the nodes to start using the sensors:
$ rosrun openni_camera openni_node $ roslaunch openni_launch openni.launch
roscore must be running before executing the preceding command. No errors will occur if all works to plan.
Next, we will learn how to use the Kinect sensors. List the rostopics created by using the preceding launch command when the sensor driver and nodes start. Although the rostopic list shows that many topics have been created, the following diagram shows some of the topics that are important to discuss:
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