Setting up Asus Xtion with ROS Indigo on Ubuntu 14.04

1. Install ROS Indigo

2. Use catkin to set up you working environment
http://wiki.ros.org/catkin/Tutorials/create_a_workspace

3. Setup the camera
Follow step 3.1 on http://wiki.ros.org/openni_camera

4. Launch the program to get data from Xtion. Follow Section 2 of http://wiki.ros.org/openni_launch

$ 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

Ref: http://wiki.ros.org/image_view

6. (Optional) Record the data
Ref: http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback

7. (Optional) Turn on RViz to visualize

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

Ref: http://wiki.ros.org/openni_camera_unstable