Ubuntu18.04+ROS安装Kinect V2

Ubuntu18.04+ROS安装Kinect V2步骤及问题解决

配置环境
Ubuntu18.04
ros-melodic
Kinect v2
转载1
转载2

安装依赖

sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev 
sudo apt-get install libglfw3-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libusb-1.0-0-dev

安装libfreenect2

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
mkdir build 
cd build
cmake ..
make
sudo make install

我运行cmake … 的时候出现如下错误

buntu@ubuntu:~/Desktop/libfree/libfreenect2/build$ cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
-- using tinythread as threading library
-- Checking for modules 'libva;libva-drm'
--   No package 'libva' found
--   No package 'libva-drm' found
-- Could NOT find TegraJPEG (missing: TegraJPEG_LIBRARIES TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_DRIVER_OK TegraJPEG_WORKS) 
CMake Error at /usr/share/cmake-3.9/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find TurboJPEG (missing: TurboJPEG_INCLUDE_DIRS TURBOJPEG_WORKS)
Call Stack (most recent call first):
  /usr/share/cmake-3.9/Modules/FindPackageHandleStandardArgs.cmake:377 (_FPHSA_FAILURE_MESSAGE)
  cmake_modules/FindTurboJPEG.cmake:66 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  CMakeLists.txt:237 (FIND_PACKAGE)


-- Configuring incomplete, errors occurred!
See also "/home/ubuntu/Desktop/libfree/libfreenect2/build/CMakeFiles/CMakeOutput.log"

解决方案：

sudo apt-get install libturbojpeg0-dev

接着设定udev rules

sudo cp libfreenect2/platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

然后重新插拔Kinect2。在刚才build目录下运行

./bin/Protonect

ROS上使用Kinect v2

cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"

运行测试Kinect

roslaunch kinect2_bridge kinect2_bridge.launch
rosrun kinect2_viewer kinect2_viewer