Turtlebot2基于kinect V1实现gmapping建图(1)

ubuntu16.04中搭建kinect v1(x360)

完全参考：Ubuntu14.04下搭建Kinect V1的环境

https://blog.youkuaiyun.com/u011092188/article/details/54861591

1.安装依赖项
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev
sudo apt-get install doxygen graphviz mono-complete

……

2.安装OpenNI
mkdir ~/kinect
cd ~/kinect/
git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0 -b Unstable-1.5.4.0
cd Platform/Linux/CreateRedist/
chmod +x RedistMaker
sudo ./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
sudo ./install.sh

(cd ~/Documents/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.4.0)

……

3.安装Kinect Sensor Module
cd ~/kinect/
git clone https://github.com/avin2/SensorKinect.git
cd SensorKinect
git checkout v0.93-5.1.2.1 -b v0.93-5.1.2.1
cd Platform/Linux/CreateRedist/
sudo ./RedistMaker
cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your
architecture and this particular OpenNI release)
sudo ./install.sh

(~/Documents/kinect/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1)

……

4.验证安装是否成功

先基于turtlebot2给kinect上电！！别忘了！要不然检测不到链连接！

cd OpenNI/Platform/Linux/Bin/Release
./Sample-NiSimpleViewer