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新手搭建Jetson TX1 + Kinect2环境(三)

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安装iai_kinect2过程中遇到的很多问题以及解决方案
(::::代表解决方案)
1. 运行:rosdep install -r –from-paths .
(1)ERROR: Rosdep experienced an error: [Errno 13] Permission denied: ‘/home/ubuntu/.ros/rosdep/sources.cache/a4b3c8956ab7a3e6d293ba33b57fac42799e69e6.pickle’
Please go to the rosdep page [1] and file a bug report with the stack trace below.
:::sudo chown -R ubuntu:ubuntu .ros
(2)ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
kinect2_viewer: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_calibration: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_bridge: Cannot locate rosdep definition for [kinect2_registration]
Continuing to install resolvable dependencies…
All required rosdeps installed successfully
:::rosdep install –from-paths ~/catkin_ws/src/iai_kinect2 –ignore-src -r
2. 运行:catkin_make -DCMAKE_BUILD_TYPE=”Release”
(1)pcl的一些头文件找不到
:::在kinect2_bridge的cmakelist.txt文件中添加:
find_package(PCL REQUIRED)
include_directories(PCLINCLUDEDIRS)linkdirectories({PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(correspondence_grouping correspondence_grouping.cpp)
(2)home/ubuntu/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp: In member function ‘void Kinect2Bridge::stop()’:
/home/ubuntu/catkin_ws/src/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp:194:38: error: could not convert ‘((Kinect2Bridge*)this)->Kinect2Bridge::device->libfreenect2::Freenect2Device::stop()’ from ‘void’ to ‘bool’
if(deviceActive && !device->stop())
^
:::home目录下的libfreenect,freenect和usr/local/include,usr/local/lib/cmake下的libfreenect,freenect版本不一样,因为你可能安装了多个版本,所以需要用home目录下的覆盖usr下的。
3. 运行roslaunch kinect2_bridge kinect2_bridge.launch错误
(1)[ERROR] [1472477540.134302505]: [Kinect2Bridge::initDevice] could not start device!
[ERROR] [1472477540.134440520]: [Kinect2Bridge::start] Initialization failed!
[FATAL] [1472477542.238926700]: Failed to load nodelet ‘/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2’
:::我是之前跑Protonect时候用ctrl+z中断的,后来用ctrl+c中断就没有这个问题了。
(2)
[DepthRegistration::New] Using CPU registration method!
[ INFO] [1472476770.954364022]: [Kinect2Bridge::main] waiting for clients to connect
这个时侯一直没反应,以为是驱动又出了问题,其实不是,另开一个窗口,运行
rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud
rosrun kinect2_viewer kinect2_viewer kinect2 sd image
均会有图像窗口出现的。

很多人说opencl不支持Jetson,但是我目前还没有遇到这个问题。
我觉得后来能出现DepthPacketProcessor 就说明opencl可以用了,可能在最新的libfreenect2中已经支持了tx1?

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