<> <> <> == Overview == This package contains launch files for using a Microsoft Kinect using the libfreenect library. This folder replicates the API offered by [[openni_launch]] in an effort to maintain maximum compatibility with the OpenNI driver. Differences are mentioned below. To use this package, please refer to [[openni_launch]] and [[rgbd_launch]] documentation. The migration guide to/from the OpenNI driver is documented [[freenect_camera#Migration_guide|here]]. The main launch script can be run using the following command: {{{ roslaunch freenect_launch freenect.launch }}} == Modifications from openni_launch == `freenect_launch` contains a few modifications from [[openni_launch]] apart from running the libfreenect based driver. These are documented below. === freenect_launch vs openni_launch === * `freenect.launch` does not support selecting the Kinect using the USB bus address. It also does not support every image mode provided by `openni.launch`. See the [[http://ros.org/wiki/freenect_camera#Migration_guide|migration guide]] for more info. * `freenect.launch supports` additional parameters for launching kinects under different namespaces. See `freenect-ns.launch` for an example. * `freenect.launch` includes parameters for enabling diagnostics support in the freenect_camera driver. Useful for debugging a working system. See `freenect-diagnostics.launch` for an example on how to use these parameters. * `freenect.launch` can also enable verbose libfreenect output. Useful for debugging errors. Use `freenect-debug.launch` to see how to enable verbose output. === Additional Launch Files === There are a few additional launch files in `freenect_launch` that demonstrate running a different constellation of nodelets. This is useful for launching the minimum set of required processing nodelets, as well as avoid unnecessary warnings during launch. For example: * `freenect-xyz.launch` - provides the pointcloud `/camera/depth/points`. Disables device registration. * `freenect-registered-xyzrgb.launch` - provides the pointcloud `/camera/depth_registered/points`. Enables device registration. ## AUTOGENERATED DON'T DELETE ## CategoryPackage