ubuntu16.04安装 kinectV2 驱动，配置ROS下驱动

一.安装libfreenect2 

第一步安装libfreenect2驱动
 
libfreenect2:   https://github.com/OpenKinect/libfreenect2
 
git clone https://github.com/OpenKinect/libfreenect2.git
 
cd libfreenect2
 
sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev
 
sudo apt-get install libglfw3-dev libopenni2-dev opencl-headers beignet-dev
 
mkdir build && cd build
 
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local -DENABLE_CXX11=ON
 
make
 
sudo make install
 
sudo cp../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

测试：

cd ～/libfreenect2/build

$ ./bin/Protonect 

二.安装iai-kinect2 ROS中kinect2中驱动

cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"

测试：

cd ~/catkin_ws
roslaunch kinect2_bridge kinect2_bridge.launch
rosrun image_view image_view image:=/kinect2/hd/image_color