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奥比中光的代码只能出来深度图像和红外线图像,不能同时出来彩色图像,彩色图像代码需要安装ros2通用的摄像机代码,安装命令:
sudo apt install ros-humble-usb-cam
启动摄像机
ros2 run usb_cam usb_cam_node_exe
通过rviz2 add by topic /image_raw/image 即可显示彩色图像 导航过程中可以通过屏幕远程看到实时图像了