ARM上ROS的kinect配置
已经在ARM上移植好了ROS，接下来就是配置ROS中的kinect的包了。
根据ROS的wiki进行安装和配置：http://www.ros.org/wiki/openni_kinect
1、安装驱动：
hg clone https://kforge.ros.org/openni/drivers cd drivers make
（1）在这一步make的时候，出现一个错误：
error: server certificate verification failed. CAfile: /etc/ssl/certs/ca-certificates.crt CRLfile: none while accessing https://github.com/OpenNI/OpenNI.git/info/refs
fatal: HTTP request failed
solution：系统时间有问题，需要更新时间，更新方法见http://www.2cto.com/os/201208/146241.html
（2）继续make，又出现错误：
/usr/include/features.h:324:26: fatal error: bits/predefs.h: No such file or directory
solution：apt-get install gcc-multilib
（3）然后跳出一堆错误：
/usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnBaseNode.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnBaseNode.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnDump.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnDump.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnDumpFileWriter.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnDumpFileWriter.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnEnumerationErrors.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnEnumerationErrors.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnExportedNodes.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnExportedNodes.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnFPSCalculator.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnFPSCalculator.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnLicensing.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnLicensing.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnLog.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnLog.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnLogConsoleWriter.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnLogConsoleWriter.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnLogFileWriter.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnLogFileWriter.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnMockNotifier.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnMockNotifier.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnModuleLoader.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnModuleLoader.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnNodeManager.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnNodeManager.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnNodeWatcher.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnNodeWatcher.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnOS.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnOS.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnOSMemoryProfiling.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnOSMemoryProfiling.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnOpenNI.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnOpenNI.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnPlayerImpl.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnPlayerImpl.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnProfiling.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnProfiling.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnQueries.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnQueries.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnRecorderImpl.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnRecorderImpl.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnScheduler.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnScheduler.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnStatusRegister.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnStatusRegister.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnTypeManager.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnTypeManager.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnUSB.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnUSB.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnUtils.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnUtils.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnXml.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnXml.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnXmlScriptNode.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnXmlScriptNode.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnXmlScriptNodeExporter.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnXmlScriptNodeExporter.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/openNI.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/openNI.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxCriticalSections.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxCriticalSections.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxDebug.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxDebug.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxEvents.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxEvents.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxFiles.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxFiles.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxINI.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxINI.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxKeyboard.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxKeyboard.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxMemory.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxMemory.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxMutex.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxMutex.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxNetwork.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxNetwork.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxPosixEvents.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxPosixEvents.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxPosixNamedEvents.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxPosixNamedEvents.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxProcesses.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxProcesses.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxSharedLibs.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxSharedLibs.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxSharedMemory.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxSharedMemory.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxStrings.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxStrings.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxSysVNamedEvents.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxSysVNamedEvents.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxThreads.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxThreads.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxTime.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxTime.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/LinuxUSBDevice.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/LinuxUSBDevice.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/XnUSBLinux.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/XnUSBLinux.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/tinystr.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/tinystr.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/tinyxml.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/tinyxml.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/tinyxmlerror.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/tinyxmlerror.o /usr/bin/ld: error: ../../Bin/Arm-Release/libOpenNI.so uses VFP register arguments, ./Arm-Release/tinyxmlparser.o does not /usr/bin/ld: failed to merge target specific data of file ./Arm-Release/tinyxmlparser.o collect2: ld returned 1 exit status make[3]: *** [../../Bin/Arm-Release/libOpenNI.so] Error 1 make[2]: *** [OpenNI] Error 2solution：https://github.com/OpenNI/OpenNI/issues/81
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