ROS Programming: Building Powerful Robots

How does Kinect send data from the sensors, and how do we see it?

Now, we are going to see what we can do with these nodes. List the topics that you have created using this command:

    $ rostopic list
  

Then, you will see a lot of topics, but the most important ones for us are the following:

    ...
    /camera/rgb/image_color
    /camera/rgb/image_mono
    /camera/rgb/image_raw
    /camera/rgb/image_rect
    /camera/rgb/image_rect_color
    ...
  

We will see a lot of topics created by nodes. If you want to see one of the sensors, for example, the RGB camera, you can use the /camera/rgb/image_color topic. To see the image from the sensor, we are going to use the image_view package. Type the following command in a shell:

    $ rosrun image_view image_view image:=/camera/rgb/image_color ...