Depth sensor

XTION DEPTH SENSOR AND Erle-Brain 2

Xtion Depth Sensor can be connected to any USB port

Launch the OpenNI driver. This will launch the full constellation of nodelets:

roslaunch openni_launch openni.launch

To view the color image from the RGB camera outside of rviz:

rosrun image_view image_view image:=/camera/rgb/image_color
#or
rosrun image_view image_view image:=/camera/rgb/image_raw

To view the mono image from the RGB camera outside of rviz:

rosrun image_view image_view image:=/camera/rgb/image_mono

To view the depth image from the RGB camera outside of rviz:

rosrun image_view image_view image:=/camera/depth/image

To visualize in rviz:

rosrun rviz rviz

Set the Fixed Frame (top left of rviz window) to /camera_depth_optical_frame.

Add a PointCloud2 display, and set the topic to /camera/depth/points. Turning the background to light gray can help with viewing. This is the unregistered point cloud in the frame of the depth (IR) camera. It is not matched with the RGB camera images.