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The information you want is on the openni_camera wiki page.
| | 2 | update |
The information you want is on the openni_camera wiki page.
What to save depends on what you want to see. Those topics can use up a lot of bandwidth.
If you want the RBG camera data, save rgb/camera_info and rgb/image_raw/compressed.
If you want the depth camera, save depth/camera_info and depth/image_raw. Image compression does not work well on depth images.
Depending on what frame of reference you want to use, it probably makes sense to save the /tf topic, too.
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