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here and Here are the description how to install the driver and its ros-wrapper and how to run them. Then listen to one of the .../points topics as described in 10. or 11. here.

here and Here are the description how to install the driver and its ros-wrapper and how to run them. Then listen to one of the .../points topics as described in 10. or 11. here.

The driver publishes:

* /camera/depth/camera_info : Camera parameters for the IR (depth) camera
* /camera/depth/image : single channel floating point (float32) depth image, containing the depth in meters.
* /camera/depth/points : point cloud without color information
* /camera/rgb/camera_info : Camera parameters for the RGB camera
* /camera/rgb/image_color : RGB image
* /camera/rgb/image_mono : Grayscale image
* /camera/rgb/points : point cloud containing RGB value for each point