odroid平台——ASUS Xtion Pro Live + Openni + ROS搭建（Xu4升级版）

之前的文章写了基于odroid-xu3的Xtion+ROS搭建方法，由于xu3停产了，只能换用xu4，但是换的过程中发现xu4没有usb2.0，只有usb3.0，但是很遗憾Xtion官方版本不支持usb3.0。经过不断的尝试，发现其他搭建方法与xu3相同，只是需要对xtion固件本身进行修改，添加usb3.0的支持。

在Windows中进行操作，插入Xtion。

下载Xtion固件升级包xtion usb update，解压。

链接再贴一遍

https://github.com/nh2/asus-xtion-fix/blob/master/FW579-RD1081-112v2.zip

进入文件夹UsbUpdate，在cmd中运行!Update-RD108x!.bat

得到如下的结果则升级完成，现在在odroid-xu4下面可以使用openni_launch啦：

G:\xtion\UsbUpdate>"!Update-RD108x!.bat"
UsbUpdate V1.0.4

      406 INFO       New log started on 2014-02-14 18:20:53
      687 INFO       OpenNI version is 1.5.4 (Build 0)-Win32 (May 20 2012 00:23:
47)
      891 INFO       --- Filter Info --- Minimum Severity: NONE
     1024 VERBOSE    Searching for .\\XnDevice*.dll...
     1159 VERBOSE    Trying to load a device 'XnDeviceSensorV2.dll'...
     1900 INFO       device 'XnDeviceSensorV2.dll' loaded.
     2096 VERBOSE    Initializing device sensor...
     2338 INFO       Setting Device.ResetSensorOnStartup to 0...
     2397 INFO       Property Device.ResetSensorOnStartup was changed to 0.
     2442 INFO       Device.ResetSensorOnStartup was successfully set.
     4365 VERBOSE    Connecting to USB device...
     5854 VERBOSE    Trying to open sensor '\\?\usb#vid_1d27&pid_0600#6&109c578c
&0&1#{c3b5f022-5a42-1980-1909-ea72095601b1}'...
     6224 VERBOSE    USB Driver Version is: 3.1.2.0
     6285 VERBOSE    USB Driver Current Alt Setting is: 0
     6328 VERBOSE    Trying to open endpoint 0x4 for control out (for old firmwa
res)...
     6397 INFO       Connected to USB device
     6441 INFO       Property Device.USBPath was changed to \\?\usb#vid_1d27&pid
_0600#6&109c578c&0&