ROS2 wrapper for openni 2.0
Note: openni2_camera supports xtion devices, but not Kinects.
An example launch exists that loads just the camera component:
ros2 launch openni2_camera camera_only.launch.py
If you want to get a PointCloud2, use:
ros2 launch openni2_camera camera_with_cloud.launch.py
- The GetService message has moved to a new openni2_camera_msgs package.
- The rgb/image topic has been renamed to rgb/image_raw for consistency.
- The nodelet has been refactored into an rclcpp component called "openni2_wrapper::OpenNI2Driver". See the launch folder for an example of how to start this.
- Since most components in image_proc/depth_image_proc lack lazy pub/sub, the advanced processing graphs in rgbd_launch and openni2_launch are not currently feasible. It is recommended to create a launch file with the specific pipeline you want. See the launch folder for an example.
- There are currently no subscriber connect/disconnect callbacks in ROS2. This package implements a lazy publisher by running a 1Hz update loop and seeing if there are new subscribers.
- Using "use_device_time" is currently broken.