openni2_ros_wrapper

ROS wrapper for OpenNI2, specifically for the Structure Sensor

Installation

• Install OpenNI2: clone the OpenNI2 repo to ~/OpenNI2 and compile
• Clone this repo under the source directory of your ROS workspace (e.g., under ~/catkin_ws/src/)
• Modify CMakeLists.txt. Specifically:
  • Line 5: if the OpenNI2 is not located at ~/OpenNI2, modify the OPENNI2_PATH variable to your OpenNI2 directory
  • Line 34-35: modify the path, depending on the platform (Arm-Release or x64-Release)
• Compile (e.g., run catkin_make under the directory ~/catkin_ws)

Usage

• Run source ~/catkin_ws/devel/setup.bash
• Launch the structure sensor with roslaunch openni2_ros_wrapper structure_sensor.launch

Optional

To change the resolution and frame rate, modify the structure_sensor.launch file.