ubuntu 14.04 +indigo+kinect xbox306(1代) +openni或者freenect

1、首先，为OPENNI的安装做准备，执行如下命令
sudo
apt-get install git-core cmake freeglut3-dev pkg-config
build-essential libxmu-dev libxi-dev  libusb-1.0-0-dev openjdk-6-jdk

doxygen
graphviz mono-complete

2、在目录skeleton/src下执行命令git
clone https://github.com/OpenNI/OpenNI.git下载OPENNI安装包；

执行

cd
OpenNI/Platform/Linux/CreateRedist/

chmod
+x RedistMaker

./RedistMaker//!!!this command may have problem!!   http://answers.ros.org/question/39839/doxygen-not-found/ 

进行编译

执行

cd
Final

tar
-xjf OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar.bz2

cd
OpenNI-Bin-Dev-Linux-x64-v1.5.7.10

sudo
./install.sh

进行安装

3、安装SesorKinect
我的装在了home目录下了，装到哪里都行

执行

git
clone git://github.com/ph4m/SensorKinect.git

下载安装包

执行

cd
SensorKinect/Platform/Linux/CreateRedist/

chmod
+x RedistMaker

./RedistMaker

进行编译

执行

cd
Final

tar
-xjf Sensor-Bin-Linux-x64-v5.1.2.1.tar.bz2

cd
Sensor-Bin-Linux-x64-v5.1.2.1

sudo
./install.sh

进行安装

4、安装NITE

这个我也装到home目录下了

执行

tar -xjf NITE-Bin-Dev-Linux-x64-v1.5.2.23.tar.bz2  //!!!!this command also suit for NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2

cd
NITE-Bin-Dev-Linux-x64-v1.5.2.23

sudo
./install.sh

进行安装

到这里似乎需要进行sudo
reboot重启电脑，忘了当时用没用了

5、在skeleton/src目录下

执行

sudo
apt-get install ros-indigo-openni-launch

sudo
apt-get install ros-indigo-openni-camera

安装openni_launch和openni_camera

还需要执行

sudo
apt-get remove libopenni-sensor-pointclouds0

命令移除这个库
测试
roslaunch openni_launch openni.launch 
rosrun rqt_image_view rqt_image_view



 
 
sudo apt-get install libfreenect-dev
sudo apt-get install ros-indigo-freenect-launch
rospack profile 

测试
roslaunch freenect_launch freenect.launch
rosrun rqt_image_view rqt_image_view