使用华硕xtion pro live编译RGBD-SLAM2

一、ubuntu16.04安装ROS
1.建议将源换成中科大的，因为这样速度比较快
sudo gedit /etc/apt/sources.list

deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multivers
edeb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
然后更新源
sudo apt-get update
2.设置安装源
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3.设置keys
 sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
 如果出现“2“，没有出现”1“的话需要重新添加密钥
 4.更新
 sudo apt-get update
 5.安装ROS
 sudo apt-get install ros-kinetic-desktop-full
 需要等待的时间比较久，可以出去玩一玩
 6.初始化
 (1)sudo rosdep init
 会出现以下内容
 Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
 rosdep update
 (2) rosdep update
 会出现以下内容
 reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit ttps://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index		https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml
Add distro "groovy"
Add distro "hydro"
Add distro "indigo"
Add distro "jade"
Add distro "kinetic"
updated cache in /home/relaybot/.ros/rosdep/sources.cache
注意：之前会出现初始化不成功的现象，现在好像不太会，如果有出现，可以私聊我
7.环境配置
 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
 source ~/.bashrc
 8.安装rosinstall
  sudo apt-get install python-rosinstall
 9.测试roscore
 终端输入roscore

二、编译RGBD-SLAM2
1.创建catkin 工作空间存放项目
[1]mkdir -p ~/catkin_ws/src
[2]cd ~/catkin_ws/src
[3]catkin_init_workspace
[4]cd …/
[5]catkin_make
[6]sudo gedit ~/.bashrc
添加 source ~/catkin_ws/devel/setup.bash
[7]source ~/.bashrc
2.下载项目
[1]cd ~/catkin_ws/src
[2]git clone https://github.com/felixendres/rgbdslam_v2
此版本CMakelists是基于的pcl1.7，我们要改成1.8，否则编译好之后运行会崩溃,具体操作从第五步开始。
3.安装g2o依赖
[1]sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev qt5-qmake
4.安装g2o（确保使用此版本g2o，否则编译可能不通过）
[1]cd ~/catkin_ws/src
[2]sudo git clone https://github.com/felixendres/g2o
[3]cd g2o
[4]sudo mkdir build
[5]cd build
[6]sudo cmake …
[7]sudo make -j4(出现卡死换成sudo make -j1)
[8]sudo make install
5.下载pcl1.8并解压，最后不包含中文路径
[1]cd ~/catkin_ws/src
[2]sudo wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
[3]sudo tar -xvf pcl-1.8.0.tar.gz
[4]cd pcl-1.8.0
[5]sudo gedit CMakeLists.txt
[6]找到地第146行（在endif()下面），添加下面一段话
SET(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} -std=c++11”)

[7]sudo mkdir build
[8]sudo cmake ..
[9]sudo make -j1(问题会出现卡死 具体解决按下面方法解决)
[10]sudo make install
注意：不要跟网上那样要下载一个什么VTK，然后在安装PCL1.8.0

6.将在项目的cmakelsits文件中将pcl1.7改成1.8
[1]cd ~/catkin_ws/src/rgbdslam_v2
[2]sudo gedit CMakeLists.txt
[3]将79行的
find_package(PCL 1.7 REQUIRED COMPONENTS common io)
改成 find_package(PCL 1.8 REQUIRED COMPONENTS common io)
保存退出
7.改pcl_rosConfig.cmake文件
[1]
sudo gedit /opt/ros/kinetic/share/pcl_ros/cmake/pcl_rosConfig.cmake
[2]从119行开始将所有的"/usr/lib/x86_64-linux-gnu/libpcl"字符替换成"/usr/local/lib/libpcl",可以用查找和替换功能实现
8…编译 siftgpu
[1]cd ~/catkin_ws/src/rgbdslam_v2/external/SiftGPU
[2]sudo apt-get install libglew-dev
[3]sudo apt-get install libdevil1c2 libdevil-dev
[4]sudo make
9.安装openni
[1]sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-*
[2]rospack profile
10.编译rgbdslam
[1]cd ~/catkin_ws
[2]sudo gedit src/rgbdslam_v2/CMakeLists.txt
在最后添加
SET(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} -std=c++11”)
[3]catkin_make
11.ROS下安装xtion pro live
[1sudo gedit /etc/openni/GlobalDefaults.ini
找到内容为“；UsbInterface=2”这一行，将这行更改为UsbInterface=0，注意去掉分号注释。
12.测试RGBD-SLAM2
[1]roscore
[2]roslaunch rgbdslam openni+rgbdslam.launch
以上就完成使用华硕xtion pro live完成得RGBD-SLAM2
下面就是效果图