1、安装需要OpenNI Sensor:参考blog https://blog.csdn.net/u013453604/article/details/48013959
2、安装ROS的freenect包:https://www.ncnynl.com/archives/201703/1438.html
连接kinect,启动rviz查看结果:
roslaunch freenect_launch freenect-registered-xyzrgb.launch
roslaunch freenect_launch freenect.launch
rosrun image_view image_view image:=/camera/rgb/image_color
3、安装rgbdslamv2,g2o,g2o有作者自己的版本,作者的安装说明:
1. Put