rgbdslam_v2实践
通过git下载相应的indigo 版本https://github.com/felixendres/rgbdslam_v2,并按照readme文件创建ROS环境和编译、安装rgbdslam_v2。以下是本人在实践过程中的遇到的问题及解决方法。
1) Catkin_make
出现 siftgpu错误 1
解决方法:
把 /rgbdslam_v2/CmakeLists.txt里面的set(USE_SIFT_GPU1)改为set(USE_SIFT_GPU0)
2)
重新打开shell,Catkin_make之前需要 source devel/setup.bash
3)Catkin_make失败,出现
解决方法:下载与ros版本想适应的rgbdslam。由于本linux系统为LTS14.04,因此安装ROSindigo并并下载相应的rgbdslamhttps://github.com/felixendres/rgbdslam_v2
4) kinect 1:Nodevices connected.... waiting for devices to be connected
解决方法:
A) sudo apt-get installROS-Indigo-OpenNI-Launch (probably similar to what you installed)
B) Use step 3 from this for the drivers: http://www.20papercups.net/programmin...
step 3:
The sensor module you want is also onGitHub, but from a different user. So, we can check out the code. We also needto get the kinect branch, not master.
git clone https://github.com/avin2/SensorKinect cd SensorKinect |
The install process for the sensor ispretty much the same as for OpenNI itself:
cd Platform/Linux/CreateRedist chmod +x RedistMaker ./RedistMaker cd ../Redist/Sensor-Bin-Linux-[xxx](where [xxx] is your architecture and this particular OpenNI release) chmod +x install.sh sudo ./install.sh |
C) Play with it: http://wiki.ros.org/openni_launch/Tut...
If that does work, please comment.
相关库:ros-indigo-openni2-*
ros-openni-*
ros-indigo-freenect-*
kinect 2:Nodevices connected.... waiting for devices to be connected
解决方法:得修改openni+rgbdslam.launch文件