ROS kinetic 连接kinect 1.0

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

freenect_camera 功能包中的话题和服务

kinetic@vm:~/catkin_ws/src$ roslaunch freenect.launch
或

kinetic@vm:~/catkin_ws/src$ roslaunch freenect_launch freenect-registered-xyzrgb.launch

kinetic@vm:~$ rosrun rviz rviz