Ubuntu18.04+ROS安装Kinect V2

Ubuntu18.04+ROS安装Kinect V2步骤及问题解决

笔者配置环境
Ubuntu18.04
ros-melodic
Kinect v2

本文参考：
boyhoodme 的博客：
https://blog.csdn.net/boyhoodme/article/details/89059888?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.nonecase

1.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

2.安装libfreenect2

在工作空间的src目录下打开终端下载libfreenect2

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

cd libfreenect2

mkdir build 

cd build

cmake ..

make

sudo make install

若发生错误，根据下面报错1提示解决。
接着设定udev rules:(填好自己libfreenect2的路径，以下是例子)
在src工作空间的目录下

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

此时可以打开摄像头，看到录像了。

下面是ROS上使用Kinect v2

安装iai_kinect2

需要安装iai_kinect2这个metapackage，在src工作空间的目录下克隆功能包

cd ~/catkin_ws/src/

git clone https://github.com/code-iai/iai_kinect2.git

cd iai_kinect2

rosdep install -r --from-paths .

在最后一个命令报错情况下参考链接：https://answers.ros.org/question/237451/run-rosdep-install-r-from-paths-error-when-i-install-iai_kinect2/
然后返回工作空间的目录下进行编译：

cd ~/catkin_ws

catkin_make -DCMAKE_BUILD_TYPE="Release"

运行测试Kinect

测试之前一定要进行编译一下，编译成功后再进行测试

roslaunch kinect2_bridge kinect2_bridge.launch

rosrun kinect2_viewer kinect2_viewer

报错以及解决办法：

报错1：

ubuntu@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"

解决办法：

sudo apt-get install libturbojpeg0-dev

然后删掉文件夹libfreenect2目录下的build文件夹，重新建build然后cmake . .

mkdir build 
cd build
cmake ..
make
sudo make install

报错2：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
kinect2_viewer: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_calibration: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_bridge: Cannot locate rosdep definition for [kinect2_registration]
Continuing to install resolvable dependencies...
All required rosdeps installed successfully

解决办法：
可以忽略，如果不想忽略，
参考链接：https://answers.ros.org/question/237451/run-rosdep-install-r-from-paths-error-when-i-install-iai_kinect2/

rosdep install --from-paths ~/catkin_ws/src/iai_kinect2 --ignore-src -r

参考链接：
https://blog.csdn.net/boyhoodme/article/details/89059888?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-3.nonecase

https://answers.ros.org/question/237451/run-rosdep-install-r-from-paths-error-when-i-install-iai_kinect2/