ROS驱动配置与Kinect连接指南

nano端

ssh nano@192.168.31.150

性能模式

# 开启最大性能模式 (10W 模式) sudo nvpmodel -m 0 # 强制将 CPU/GPU 频率锁定到最高 sudo jetson_clocks

kinect 驱动

cd catkin_ws source ./devel/setup.bash roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=2

cd catkin_ws source ./devel/setup.bash roslaunch freenect_launch freenect.launch depth_registration:=true data_skip:=5

底盘驱动

cd robot source ./devel/setup.bash rosrun diff_driver diff_driver_node.py

笔记本端

键盘控制

cd robot_ws source ./devel/setup.bash rosrun diff_driver keyboard.py

tf转换

cd robot_ws source ./devel/setup.bash roslaunch diff_driver start_slam_tf.launch

RTABMAP

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/rgb/image_raw depth_topic:=/camera/depth_registered/image_raw camera_info_topic:=/camera/rgb/camera_info frame_id:=base_link approx_sync:=true approx_sync_max_interval:=0.1 visual_odometry:=true rtabmapviz:=true rviz:=true