PC机环境:Ubuntu14.04+ ROS Indigo (2017-3-24)
首先安装 rgbdstamv2:
1.创建工作空间并进入:
mkdir ~/rgbdslam_catkin_ws
cd ~/rgbdslam_catkin_ws
2.创建src文件夹并初始化工作空间,词条命令执行完毕后会生成一个CMakeLists.txt文件
mkdir ~/rgbdslam_catkin_ws/src
cd ~/rgbdslam_catkin_ws/src
catkin_init_workspace
3.进入rgbdslam_catkin_ws文件夹并调用终端配置文件
cd ~/rgbdslam_catkin_ws
catkin_make
source devel/setup.bash
4.从github上下载rgbdslam源码并解压到src文件夹中
cd ~/rgbdslam_catkin_ws/src
wget -q http://github.com/felixendres/rgbdslam_v2/archive/indigo.zip
unzip -q indigo.zip
5.编译并安装rgbdslam
cd ~/rgbdslam_catkin_ws/
rosdep update
rosdep install rgbdslam
catkin_make
6.安装驱动程序
sudo apt-get install ros-indigo-openni-camera
sudo apt-get install ros-indigo-openni-launch
sudo apt-get install libfreenect-dev
sudo apt-get install ros-indigo-freenect-launch
7.测试
连接kinect到电脑上
重新开一个终端,打开roscore
roscore
然后回到之前的终端,进入到rgbdslam_catkin_ws文件夹下
在命令行输入:
roslaunch rgbdslam openni+rgbdslam.launch
然后按下回车键,不出意外应该会出现以下窗口:
如果出现 No device connect… 的问题可以采用如下方法解决:
首先打开链接 Avin2 GitHub snapshot of SensorKinect drivers 下载驱动
然后到下载目录解压安装驱动
unzip avin2-SensorKinect-v0.93-5.1.2.1-0-g15f1975.zip
cd avin2-SensorKinect-15f1975/Bin
下面解压的时候注意区分版本,如果是32位的电脑要解压SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2文件。
tar -xjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1
sudo ./install.sh
完成之后重新进行步骤七去测试。
参考文章:
https://github.com/felixendres/rgbdslam_v2
http://blog.csdn.net/u012526003/article/details/51003347
http://blog.csdn.net/yangtze_1006/article/details/51606680
http://answers.ros.org/question/60562/ubuntu-12042-and-openni_launch-not-detecting-kinect-after-update/