接primsense 用rqt订阅发现rgb图和depth图巨卡

解决方案参考：http://answers.ros.org/question/77651/asus-xtion-on-usb-30-ros-hydro-ubuntu-1210/

概要如下：

"To get the device working I used OpenNI Unstable 1.5.4.0 (https://github.com/OpenNI/OpenNI.git) and PrimeSense Sensor Unstable 5.1.2.1 (https://github.com/PrimeSense/Sensor.git)"

"After installing the driver it is necessary to change the "USB interface" that is used to BULK endpoints by uncommenting UsbInterface=2 in GlobalDefaults.ini (/usr/etc/primesense/GlobalDefaults.ini). I've also found it works when the interface is set to 0. The following comment from the file explains the meaning of the parameters: ; USB interface to be used. 0 - FW Default, 1 - ISO endpoints, 2 - BULK endpoints. Default: Arm - 2, other platforms - 1"

装完重启后，问题基本解决，不过还是会出现：Warning: USB events thread - failed to set priority. This might cause loss of data...

补充：发现kinect用openni_camera驱动又无法启动了。。。。

解决办法：卸载ros-indigo-openni-camera, 卸载完会提示你会自动装freenect驱动，安装完后用 roslaunch freenect_launch freenect.launch启动kinect正常。然后又install ros-indigo-openni-camera，但还是无法启动。。。从此弃用。。。