按照 ROS 安装，编译再运行节点。

rostopic list 可以列出发布的节点：

 /mynteye/depth/camera_info
 /mynteye/depth/image_raw
 /mynteye/depth/image_raw/compressed
 /mynteye/depth/image_raw/compressed/parameter_descriptions
 /mynteye/depth/image_raw/compressed/parameter_updates
 /mynteye/depth/image_raw/compressedDepth
 /mynteye/depth/image_raw/compressedDepth/parameter_descriptions
 /mynteye/depth/image_raw/compressedDepth/parameter_updates
 /mynteye/depth/image_raw/theora
 /mynteye/depth/image_raw/theora/parameter_descriptions
 /mynteye/depth/image_raw/theora/parameter_updates
 /mynteye/imu/data_raw
 /mynteye/imu/data_raw_processed
 /mynteye/left/camera_info
 /mynteye/left/image_color
 /mynteye/left/image_color/compressed
 ...

rostopic hz <topic> 可以检查是否有数据：

 subscribed to [/mynteye/imu/data_raw]
 average rate: 202.806
   min: 0.000s max: 0.021s std dev: 0.00819s window: 174
 average rate: 201.167
   min: 0.000s max: 0.021s std dev: 0.00819s window: 374
 average rate: 200.599
   min: 0.000s max: 0.021s std dev: 0.00819s window: 574
 average rate: 200.461
   min: 0.000s max: 0.021s std dev: 0.00818s window: 774
 average rate: 200.310
   min: 0.000s max: 0.021s std dev: 0.00818s window: 974
   ...

rostopic echo <topic> 可以打印发布数据等。了解更多，请阅读 rostopic。

ROS 封装的文件结构，如下所示：

 <sdk>/wrappers/ros/
 ├─src/
   └─mynteye_wrapper_d/
      ├─launch/
      │  ├─display.launch
      │  └─mynteye.launch
      ├─msg/
      ├─rviz/
      ├─src/
      │  ├─mynteye_listener.cc
      │  └─mynteye_wrapper_nodelet.cc
      │  └─mynteye_wrapper_node.cc
      │  └─pointcloud_generatort.cc
      │  └─pointcloud_generator.h
      ├─CMakeLists.txt
      ├─nodelet_plugins.xml
      └─package.xml

其中 mynteye.launch 里，可以配置发布的 topics 与 frame_ids 、决定启用哪些数据、以及设定控制选项。其中，gravity 请配置成当地重力加速度。

1 <arg name="gravity" default="9.8" />