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Getting started pcl with ros
Description: This tutorial discusses installation of downloading and installing openni drivers, openni_launch and getting started.Tutorial Level: BEGINNER
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1.Download openni drivers to work with xbox kinect
2.unzip it with command
$ tar -zxvf filename.tar.gz
3.Install openni drivers using the command in the parent directory of unzipped file
$ sudo ./install.sh
4.Install openni_launch
$ sudo apt-get install ros-<rosdistro>-openni-launch
5. Run openni_launch using the command
$ roslaunch openni_launch openni.launch depth_registration:=true
6. The topics which we deal with are
topic type description /camera/depth/points pointCloud2 only cloud of points /camera/depth_registered/points pointCloud2 point cloud with rgb colors
7.visualising the cloud in rviz
$ rosrun rviz rviz
8. In rviz to visualise pointcloud with rgb colors
fixed_frame: /camera_link add PointCloud2 with topic as /camera/depth_registered/points
...
