Turtlebot2基于kinect V1实现gmapping建图(2)

按照教程：https://blog.csdn.net/u011092188/article/details/54861591

继续按照教程：https://blog.csdn.net/hookie1990/article/details/53927823

操作后运行：roslaunch openni_launch openni.launch出现如下错误：

Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1543141015.998271459]: Number devices connected: 2
[ INFO] [1543141016.099558181]: 1. device on bus 001:15 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0'
[ INFO] [1543141016.099633610]: 2. device on bus 001:15 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00364A05003107A'
[ INFO] [1543141016.100583768]: Searching for device with index = 1
[camera/camera_nodelet_manager-2] process has died [pid 19127, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/lesleybinglei/.ros/log/3a69c930-f09b-11e8-b898-30b49eb249b5/camera-camera_nodelet_manager-2.log].
log file: /home/lesleybinglei/.ros/log/3a69c930-f09b-11e8-b898-30b49eb249b5/camera-camera_nodelet_manager-2*.log

解决方案：

参考：记录Kinect V1与V2在Ubuntu16.04下的配置过程以及在ros下的骨骼检测追踪

https://blog.csdn.net/MyJournal/article/details/84553242

$ cd /your/path/to/SensorKinect/Bin/Sensor-Bin-Linux-x64-v...

$ sudo ./install.sh -u

成功运行如下：

roslaunch openni_launch openni.launch

rosrun rviz rviz

其他参考：https://www.cnblogs.com/sincere-diligence/p/9322313.html

https://blog.csdn.net/u013453604/article/details/48013959