ubuntu14.04安装运行RGBDSLAMV2

ubuntu14.04安装运行RGBDSLAMV2

决定把目前的开源SLAM方案都编译运行一遍，然后比较其各种优劣，今天主要进行RGBDSLAMV2的运行，记录下来，然后深究其内部原理：

运行环境 ubuntu14.04 LTS ROS indigo kinect1

1.Kinect驱动的安装

说起这个有点坑了，网上各种版本的都有，实测好用的倒没几个，这里我总结一个堪称史上最简，并且亲测有用的版本，希望对大家有所帮助。

//安装依赖项
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
sudo apt-get install doxygen graphviz mono-complete

//安装驱动

mkdir ~/kinect 

cd ~/kinect 

git clone https://github.com/avin2/SensorKinect 
cd SensorKinect/Bin/
tar xvjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1/
sudo ./install.sh

2.安装ROS功能包

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*  

rospack profile

3.使用Kinect

roslaunch freenect_launch freenect-registered-xyzrgb.launch 

//彩色图
rosrun image_view image_view image:=/camera/rgb/image_raw

//深度图
rosrun image_view image_view image:=/camera/depth_registered/image_raw

大功告成，下面开始RGBDSLAM的编译

4.编译RGBDSLAM

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

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.更改launch/openni+rgbdslam.launch话题为你的话题，即可

7.执行以下，命令即可

cd ~/rgbdslam_catkin_ws
roscore
roslaunch rgbdslam openni+rgbdslam.launch
rosrun image_view image_view image:=/camera/rgb/image_raw

rosrun image_view image_view image:=/camera/depth_registered/image_raw

大功告成