Ubuntu16.04上安装kinect2的驱动和ROS_bridge

---

１．Download libfreenect2 source

---

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2

Install build tools

sudo apt-get install build-essential cmake pkg-config

Install libusb. The version must be >= 1.0.20.

sudo apt-get install libusb-1.0-0-dev

Install TurboJPEG

sudo apt-get install libturbojpeg libjpeg-turbo8-dev

Install OpenGL

sudo apt-get install libglfw3-dev

Install OpenNI2 (optional)

sudo apt-get install libopenni2-dev

Install OpenCL (optional)
https://blog.youkuaiyun.com/gagabook/article/details/53539823
Build (if you have run cd depends previously, cd .. back to the libfreenect2 root directory first.)

mkdir build && cd build
# cmake .. -DCMAKE_INSTALL_PREFIX=$/usr/local/freenect2　-DENABLE_CXX11=ON
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install

You need to specify cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2 for CMake based third-party application to find libfreenect2.
针对上面cmake命令的说明， 第一个参数， 是特别指定安装的位置， 你也可以指定别的你觉得高兴的地方， 但一般标准的路径是上述示例路径或者/usr/local。 第二个参数是增加C++11的支持。

Set up udev rules for device access: sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/, then replug the Kinect.
Run OpenNI2 test (optional): sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2. Environment variable LIBFREENECT2_PIPELINE can be set to cl, cuda, etc to specify the pipeline.
设定udev rules: sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/, 然后重新插拔Kinect2，一切搞定

相机，必须插在USB3.0的插口上！
Run the test program: sudo ./bin/Protonect
注意：这里不加sudo权限可能会导致提示找不到设备

Run OpenNI2 test (optional): sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2. Environment variable LIBFREENECT2_PIPELINE can be set to cl, cuda, etc to specify the pipeline.

---

２．Install IAI Kinect2

---

利用命令行从Github上面下载工程源码到工作空间内src文件夹内:

cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"

针对于上述命令中最后一行指令， 需要说明的是， 如果前面libfreenect2你安装的位置不是标准的两个路径下， 需要提供参数指定libfreenect2所在路径:

catkin_make -Dfreenect2_DIR=path/to/freenect2/lib/cmake/freenect2 -DCMAKE_BUILD_TYPE="Release"

在执行rosdep install -r --from-paths .时可能汇报错：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
kinect2_viewer: Cannot locate rosdep definition for [kinect2_bridge]
iai_kinect2: Cannot locate rosdep definition for [kinect2_registration]
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

没有关系，这些依赖库就是我们之后要安装的，忽视就好了．
在进行catkin_make -DCMAKE_BUILD_TYPE="Release"时提示：

CMake Error at CMakeLists.txt:1 (cmake_minimum_required):
  CMake 3.8 or higher is required.  You are running version 3.5.1


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

升级cmake的方法参照：https://blog.youkuaiyun.com/li872149120/article/details/77892127

设置环境变量：

source devel/setup.bash

接下来进行测试，打开kinect接口：

roslaunch kinect2_bridge kinect2_bridge.launch

新建一个终端，显示运行图像

rosrun kinect2_viewer kinect2_viewer

图片上传好慢，就不贴图了，如果各位安装过程中遇到任何问题请在评论区与我讨论，谢谢！