Overview

This package contains launch files for using OpenNI-compliant devices in ROS. It supports the Asus Xtion, Xtion Pro, and multiple version of the Primesense 1.08 and 1.09 cameras. It does NOT support any versions of the Kinect. freenect_launch or openni_launch is the recommended package for using a Kinect with ROS.

There is very little actual code/etc in openni2_launch, it is mostly a thin wrapper around openni2_camera and rgbd_launch.

Usage

Quick start: Launch the OpenNI2 driver. This will launch the full constellation of nodelets:

roslaunch openni2_launch openni2.launch

More is documented http://docs.ros.org/api/openni2_launch/html/