Setting up Asus Xtion with ROS Indigo on Ubuntu 14.04

1. Install ROS Indigo

2. Use catkin to set up you working environment

3. Setup the camera
Follow step 3.1 on

4. Launch the program to get data from Xtion. Follow Section 2 of

$ roscd openni_launch
$ roslaunch openni_launch openni.launch

5. Now do a test by viewing the RGB and depth images:

To view depth map, run:
rosrun image_view disparity_view image:=/camera/depth/disparity

To view RGB image, run:
rosrun image_view image_view image:=/camera/rgb/image_color


6. (Optional) Record the data

7. (Optional) Turn on RViz to visualize

8. (Optional) Play with more features provided by openni_camera_unstable.


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