Ubuntu16.04 + kinectv1 + ORB_SLAM2

1、安装工具

sudo apt-get install vim git cmake 
sudo apt-get install gcc g++ 

2、安装ROS kinetic（选择性安装）

http://wiki.ros.org/cn/kinetic/Installation/Ubuntu

按照以上步骤安装，基本不会有太大问题

3、安装ORB-SLAM2

https://github.com/raulmur/ORB_SLAM2

4 、安装kinect v1驱动     包括： openni、Sensor、NITE（可不安装）

（1）安装openni

安装依赖

sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk

sudo apt-get install doxygen graphviz mono-complete

安装openni

$ git clone https://github.com/OpenNI/OpenNI.git

$ cd OpenNI

$ git checkout Unstable-1.5.4.0

$ cd Platform/Linux/CreateRedist

$ chmod +x RedistMaker

$ ./RedistMaker

$ cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx]  (where [xxx] is your architecture and this particular OpenNI release)

$ sudo ./install.sh

（2）安装Kinect Sensor

$ git clone https://github.com/avin2/SensorKinect

$ cd SensorKinect

$ cd Platform/Linux/CreateRedist

$ chmod +x RedistMaker

$ ./RedistMaker

$ cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)  
 
$ chmod +x install.sh

$ sudo ./install.sh

（3）测试（连接kinect v1，2.0或3.0都可以）

$ cd OpenNI/Platform/Linux-x86/Bin/Release
（我的目录是：/home/xxx/catkin_ws/src/kinect/OpenNI/Platform/Linux/Bin/x64-Release）

$ ./NiViewer

# 运行结果是黄黑色深度图像

5 在ROS下运行ORB_SLAM2

（1）构建RGBD节点

将包含Examples / ROS / ORB_SLAM2的路径添加到ROS_PACKAGE_PATH环境变量中。打开.bashrc文件并在末尾添加以下行。

$ gedit ~/.bashrc

添加：export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

# 我的路径为：export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xxx/catkin_ws/src/ORB_SLAM2/Examples/ROS

（2）运行build_ros.sh脚本

$ chmod +x build_ros.sh

$ ./build_ros.sh

（3）运行

# 终端1：kinect的驱动文件

$ roslaunch freenect_launch freenect-registered-xyzrgb.launch

# 终端2：运行RGBD节点

rosrun ORB_SLAM2 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

$ rosrun ORB_SLAM2 RGBD /home/xxx/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/xxx/catkin_ws/src/ORB_SLAM2/Examples/RGB-D/TUM1.yaml

参考：

https://blog.csdn.net/radiantjeral/article/details/82193370

https://blog.csdn.net/sinat_38343378/article/details/79180265

安装过程中遇到的问题：

/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

解决：https://github.com/raulmur/ORB_SLAM2/issues/494

 

补：安装usb_cam驱动

cd ~/catkin_ws/src

# 下载usb_cam包
git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam

# 编译
cd ..
catkin_make

# 启动节点测试
roslaunch usb_cam usb_cam-test.launch