ROS kinetic 连接kinect 1.0

最新推荐文章于 2022-06-01 10:56:11 发布

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最新推荐文章于 2022-06-01 10:56:11 发布

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本文链接：https://blog.csdn.net/youshijian99/article/details/80101611

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本文档详细介绍了如何在ROS Kinetic环境下安装freenect相关的功能包，以及通过git克隆SensorKinect仓库。针对32位和64位系统提供了不同的安装步骤，包括解压安装文件、运行安装脚本等。安装完成后，通过运行`freenect.launch`和`freenect-registered-xyzrgb.launch`启动Kinect设备。

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安装功能包
kinetic@vm:~$ sudo apt-get install ros-kinetic-freenect-*
kinetic@vm:~$ git clone https://github.com/avin2/SensorKinect.git
kinetic@vm:~$ cd SensorKinect/Bin
32位安装：
kinetic@vm:~/SensorKinect/Bin$ tar xvf SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2
kinetic@vm:~/SensorKinect/Bin$ cd Sensor-Bin-Linux-x86-v5.1.2.1/
kinetic@vm:~/SensorKinect/Bin/Sensor-Bin-Linux-x86-v5.1.2.1$ sudo ./install.sh
64位安装：
kinetic@vm:~/SensorKinect/Bin$ tar xvf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
kinetic@vm:~/SensorKinect/Bin/Sensor-Bin-Linux-x64-v5.1.2.1$ sudo ./install.sh
[sudo] password for kinetic:
Installing PrimeSense Sensor
****************************
creating config dir /usr/etc/primesense...OK
copying shared libraries...OK
copying executables...OK
registering module 'libXnDeviceSensorV2KM.so' with OpenNI...OK
registering module 'libXnDeviceFile.so' with OpenNI...OK
copying server config file...OK
setting uid of server...OK
creating server logs dir...OK
installing usb rules...OK
installing modprobe blacklist...OK

*** DONE ***

运行
/opt/ros/kinetic/share/freenect_launch/launch/freenect.launch
kinetic@vm:~/catkin_ws/src$ cat freenect.launch

<launch>
	<!-- 启动freenect驱动 -->
	<include file="$(find freenect_launch)/launch/freenect.launch">
		<arg name="publish_tf" value="false" />
		<arg name="depth_registration" value="true" />
		<arg name="rgb_processing" value="true" />
		<arg name="ir_processing" value="false" />
		<arg name="depth_processing" value="false" />
		<arg name="depth_registered_processing" value="true" />
		<arg name="disparity_processing" value="false" />
		<arg name="disparity_registered_processing" value="false" />
		<arg name="sw_registered_processing" value="false" />
		<arg name="hw_registered_processing" value="true" />
	</include>
</launch>

freenect_camera 功能包中的话题和服务