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UBUNTU18.04下使用ros1编译kinect2踩坑

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环境：Ubuntu18.04， ros melodic，i5

step1：安装libfreenect2

下面展示一些 内联代码片。

// An highlighted block
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
mkdir build
cd build
cmake ..
make
sudo make install

如果缺少依赖请先装上想应的依赖
sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
sudo apt-get install libglfw3-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libusb-1.0-0-dev
设定udev rules

sudo cp libfreenect2/platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

重新插拔Kinect2.在build目录下运行

./bin/Protonect pl   //测试OpenGL是否正常
./bin/Protonect cpu   //测试CPU是否正常

step2 安装iai_kinect2

需要在ros的工作空间下编译

// An highlighted block
cd ~/catkin_pcl/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .

如果出现报错

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
kinect2_viewer: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_calibration: Cannot locate rosdep definition for [kinect2_bridge]
kinect2_bridge: Cannot locate rosdep definition for [kinect2_registration]
Continuing to install resolvable dependencies...
All required rosdeps installed successfully

运行

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

编译

cd ~/catkin_pcl
catkin_make -DCMAKE_BUILD_TYPE="Release"

如果出现CV-AA等类似opencv版本不匹配的问题
更改iai-kinect2功能包下，kinect2_bridge,kinect2_calibration,kinect2_viewer,kinect2_registration下的cmakelist文件把find_package(OpenCV REQUIRED)更改为find_package(OpenCV 3 REQUIRED)
编译成功后source一下

echo "source ~/catkin_pcl/devel/setup.sh" >> ~/.bashrc

运行并测试Kinect2

roslaunch kinect2_bridge kinect2_bridge.launch

如果出现不能链接kinect的情况或者kinect not working的情况
检查是否下载了opencl
若是没有下载opencl可以更改kinect2_bridge.launch文件，使用roslaunch启动：

<launch>

  <arg name="base_name"         default="kinect2"/>
  <arg name="sensor"            default=""/>
  <arg name="publish_tf"        default="false"/>
  <arg name="base_name_tf"      default="$(arg base_name)"/>
  <arg name="fps_limit"         default="-1.0"/>
  <arg name="calib_path"        default="$(find kinect2_bridge)/data/"/>
  <arg name="use_png"           default="false"/>
  <arg name="jpeg_quality"      default="90"/>
  <arg name="png_level"         default="1"/>
  <arg name="depth_method"      default="opengl"/>
  <arg name="depth_device"      default="-1"/>
  <arg name="reg_method"        default="cpu"/>
  <arg name="reg_device"        default="-1"/>

若出现

Failed to load nodelet [/kinect2_points_xyzrgb_XX] of type [depth_image_proc/point_cloud_xyzrgb]

切到src目录，运行

git clone --branch kinetic https://github.com/ros-perception/image_pipeline.git
catkin_make --pkg image_pipeline

roslaunch kinect2_bridge kinect2_bridge.launch
rosrun kinect2_viewer kinect2_viewer 

结果展示：

参考链接