Ubuntu 16.04 在ros上使用Kinect2教程 （freenect驱动及iai_kinect的安装)

安装libfreenect：

相关依赖：

sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev

        下用一行表示： 

sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev libglfw3-dev

 下载编译：

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

cd libfreenect2

mkdir build && cd build

cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2

make -j`nproc`

make install

cd ..

cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2

sudo cp ./platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

 

 

安装iai_kinect包

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 -DCMAKE_BUILD_TYPE="Release"

 

 

连接设备后，下为运行命令行：

roslaunch kinect2_bridge kinect2_bridge.launch
//或者 ：rosrun kinect2_bridge kinect2_bridge


//点云显示 ：rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud