ubuntu14.04,indigo,kinect xbox,联想笔记本
运行环境:kinect V1,ubuntu14.04,ROS indigo,台式机(具备2个以上USB BUS,不是PORT)
lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 04f2:b541 Chicony Electronics Co., Ltd
Bus 001 Device 003: ID 8087:0a2a Intel Corp.
Bus 001 Device 010: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 008: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 009: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 007: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 002: ID 17ef:6050 Lenovo
Bus 001 Device 014: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 012: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 013: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 011: ID 0409:005a NEC Corp. HighSpeed Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
locate freenect.launch 得到文件位置,因为我的电脑用openni.launch检测不到kinect,未解决。
/opt/ros/indigo/share/freenect_launch/launch/freenect.launch
cd /opt/ros/indigo/share/freenect_launch/launch/
首先,需要自己写一个launch文件,doublekinect_test.launch(文件名自定):
sudo gedit doublekinect_test.launch
文件内容如下:
/use_sim_time : false
保存。
只要电脑配置有多个USB BUS,就可以接3个甚至更多个kinect。
打开终端,运行:
roslaunch freenect_launch doublekinect_test.launch
再打开一个终端,运行:
rosrun image_view image_view image:=/kinect1/rgb/image_color
rosrun image_view disparity_view image:=/kinect_1/depth/disparity 会出现第一台kinect的深度图
再打开一个终端,运行:
rosrun image_view image_view image:=/kinect2/rgb/image_color