ROS链接openni库获取kinect数据（PC端）
ROS库中本身带有kinect的驱动和应用包，但是很难应用到嵌入式系统当中，但是单独的openni库已经很完善了，很容易应用在PC机和嵌入式系统当中。为了在嵌入式的ARM系统中应用ROS和kinect，首先我在PC机上进行ROS链接openni库的实验。
一、安装openni库
参考链接：http://www.20papercups.net/programming/kinect-on-ubuntu-with-openni/
二、建立kinect_test包
首先建立一个ROS的package，然后在src文件夹下建立代码文件，结合ROS教程中WritingPublisherSubscriber（C++）一章中的编程方法和openni中samples里的NiSimpleRead例程代码，使用openni库中的功能函数获取kinect数据，并使用ROS进行消息发布。代码如下（代码包下载请见http://download.csdn.net/detail/hcx25909/5093853）：
1、kinect_value_talker.cpp
/****************************************************************************
* *
* OpenNI 1.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* OpenNI is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* OpenNI is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with OpenNI. If not, see
#include
#include
#include
#include "ros/ros.h"
#include "std_msgs/String.h"
#include
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define SAMPLE_XML_PATH "Data/SamplesConfig.xml"
//---------------------------------------------------------------------------
// Macros
//---------------------------------------------------------------------------
#define CHECK_RC(rc, what) \
if (rc != XN_STATUS_OK) \
{ \
printf("%s failed: %s\n", what, xnGetStatusString(rc)); \
return rc; \
}
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
using namespace xn;
XnBool fileExists(const char *fn)
{
XnBool exists;
xnOSDoesFileExist(fn, &exists);
return exists;
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
ScriptNode scriptNode;
EnumerationErrors errors;
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise("kinect_value", 1000);
ros::Rate loop_rate(10);
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else {
printf("Could not find '%s'. Aborting.\n" , SAMPLE_XML_PATH);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
XnFPSData xnFPS;
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
DepthMetaData depthMD;
while ((!xnOSWasKeyboardHit()) && (ros::ok()))
{
std_msgs::String msg;
std::stringstream ss;
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnFPSMarkFrame(&xnFPS);
depth.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
ss << "Frame " << depthMD.FrameID();
ss << " Middle point is: " << depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2);
ss << " FPS: " << xnFPSCalc(&xnFPS);
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
depth.Release();
scriptNode.Release();
context.Release();
return 0;
}
2、 kinect_value_listener.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("kinect_value", 1000, chatterCallback);
ros::spin();
return 0;
}参考链接：http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
三、修改编译文件
首先在CMakeLists.txt中将程序和openni库进行链接。在文件中加入头文件路径：
include_directories ("/usr/include/ni/")rosbuild_add_executable(kinect_value_talker src/kinect_value_talker.cpp)
rosbuild_add_executable(kinect_value_listener src/kinect_value_listener.cpp)
target_link_libraries(kinect_value_talker OpenNI) 实验结果：
参考链接：http://www.ros.org/wiki/openni
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