在rviz中使用Astra pro深度相机的点云数据

Astra pro深度相机配置
我发现从github上clone下来的功能包并没有rviz文件
为了显示深度相机的点云图，这里需要配置一个rviz文件
在功能包目录下建立一个名为rviz的文件夹，创建一个depth_camera.rviz文件，具体内容如下：

Panels:
  - Class: rviz/Displays
    Help Height: 88
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Grid1
        - /PointCloud21
      Splitter Ratio: 0.5
    Tree Height: 453
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: PointCloud2
Visualization Manager:
  Class: ""
  Displays:
    -