TX2+ROS+Kinect2

TX2+ROS+Kinect2

我是刚开始接触这些东西，我只是把自己安装过程以及参考链接整理出来，以后重新安装的话我可以省很大劲，我这是站在巨人的肩膀上。
Ubuntu14.04 + ROS indigo Ubuntu16.04 + ROS kinetic，Ubuntu版本不一样安装的也不一样，这点注意，我就装错了浪费了很多时间

安装ROS

第一步：换源

备份

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

gedit打开文件

sudo gedit /etc/apt/sources.list

可以在自己能找到的文件夹新建一个文本，把原本的源复制到文本中，以防以后换源
阿里源

# deb cdrom:[Ubuntu 16.04 LTS _Xenial Xerus_ - Release amd64 (20160420.1)]/ xenial main restricted
deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

清华源

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

科大源

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse 
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse 
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse 
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse 
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse 
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse 
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main universe restricted 
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ xenial main universe restricted

同学说清华和科大的镜像源都失效了

更新

sudo apt-get update

https://www.e-learn.cn/content/qita/1661262

第二步：安装

https://www.jetsonhacks.com/2018/04/27/robot-operating-system-ros-on-nvidia-jetson-tx-development-kits/
安装

$ git clone https://github.com/jetsonhacks/installROSTX2.git
$ cd installROSTX2

安装自己需要安装的版本我的是ros-kinetic-desktop版本

$ ./installROS.sh -p ros-kinetic-desktop -p ros-kinetic-rgbd-launch

4. 配置工作空间

./setupCatkinWorkspace.sh [optionalWorkspaceName]

[ ]里的是工作空间的名称

驱动节点配置

在ROS环境里使用Kinect2， 主要依靠iai-kinect2这个包。 Github地址： https://github.com/code-iai/iai_kinect2 。

libfreenect2

下载libfreenect2源码

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2

下载upgrade deb 文件

cd depends; ./download_debs_trusty.sh

安装编译工具

sudo apt-get install build-essential cmake pkg-config

安装 libusb. 版本需求 >= 1.0.20.

sudo dpkg -i debs/libusb*deb

安装 TurboJPEG

sudo apt-get install libturbojpeg libjpeg-turbo8-dev

安装 OpenGL

sudo dpkg -i debs/libglfw3*deb
sudo apt-get install -f
sudo apt-get install libgl1-mesa-dri-lts-vivid

第三条指令可以忽略
安装 OpenCL (可选)

1. Intel GPU

sudo apt-add-repository ppa:floe/beignet
sudo apt-get update
sudo apt-get install beignet-dev
sudo dpkg -i debs/ocl-icd*deb

2. AMD GPU

apt-get install opencl-headers

验证安装: clinfo

https://blog.csdn.net/sunbibei/article/details/51594824