硬件要求
1.USB 3.0 controller. USB 2 is not supported.
必须使用usb3.0,可以在终端中输入lsusb来检查是否拥有USB3.0,如果有将会有一个3.0出现。
驱动安装
1.下载驱动包:
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
2.安装编译工具:
sudo apt-get install build-essential cmake pkg-config
3.安装libusb. The version must be >= 1.0.20:
sudo apt-get install libusb-1.0-0-dev
4.安装TurboJPEG:
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
5.安装OpenGL:
sudo apt-get install libglfw3-dev
6.安装OpenNI2:
sudo apt-get install libopenni2-dev
7.编译构建:
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/
make
sudo make install
8.设置udev规则:
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
9.插拔kinect v2,运行
./bin/Protonect
ROS中配置
1.安装
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
2.配置环境
source devel/setup.bash
3.启动launch文件
roslaunch kinect2_bridge kinect2_bridge.launch
4.运行ros节点
rosrun kinect2_viewer kinect2_viewer