Ubuntu16.04 安装Kinect2驱动

1.网站下载libfreenect2文件，（下载完后修改文件名为libfreenect2）链接为https://github.com/OpenKinect/libfreenect2.git
2.定位到文件夹libfreenect2下，右击打开终端
3.Install build tools

sudo apt-get install build-essential cmake pkg-config

4.Install libusb. The version must be >= 1.0.20.

sudo apt-get install libusb-1.0-0-dev

5.Install TurboJPEG

sudo apt-get install libturbojpeg libjpeg-turbo8-dev

6.Install OpenGL

sudo apt-get install libglfw3-dev

7.Install OpenCL (optional)

sudo apt-get install beignet-dev

8.Install VAAPI (optional, Intel only)

sudo apt-get install libva-dev libjpeg-dev

9.Install OpenNI2 (optional)

sudo apt-get install libopenni2-dev

10.Build

mkdir build && cd build  //新建文件夹并打开
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install

11.Set up udev rules for device access：

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

12.Run the test program

./bin/Protonect

13.安装安装IAI Kinect2 （Kinect在ROS中使用的配置包）

cd ~/catkin_ws2/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"

在安装iai-kinect2操作这一步"rosdep install -r --from-paths ."出现了问题，错误如下：

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

连接传感器到PC
运行：

roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true

rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud

安装完成。