Ubuntu14.04 ROS Indigo uses the Kinect Pro test

Order

I recently because of learning slam and contact Ros Indigo and Kinect, according to the truth, the various data of Ros Indigo should be very rich, but in the Kinect this piece, online methods appear mixed, The author in accordance with the official Ros recommended installation method after installation, delay in accordance with the above statement to get the legend of the depth of the image, then began a variety of information, various installation of the era ... it's really hard ... finally after reloading a system and starting to install a variety of things, To bring up the depth map successfully. So I wrote this article, intended to help more people succeed in the Ubuntu14.04+ros environment, the successful use of Kinect. Environment

Ubuntu14.04+ros indigo+kinectv1/xtion installation First step: Install OpenCV

The author has been using opencv2.4.9, because I think this is the most stable version, the specific method please refer to this blog opencv2.4.9 install the second step: Install Ros Indigo

Here please refer to the steps on the wiki, step by step, it is best to change the download source (the author has always believed that the source of 163 is good), so download speed is relatively fast, here no longer repeat the third step: Install Sensorkinect drive

Before installing the driver, you can install some dependencies and enter the following code:

sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk

sudo apt-get install Doxygen graphviz mono-complete

mkdir ~/kinectdriver 
cd ~/kinectdriver 
git clone https://github.com/avin2/SensorKinect 
CD sensorkinect/ bin/
tar xvjf sensorkinect093-bin-linux-x64-v5.1.2.1.tar.bz2
cd sensor-bin-linux-x64-v5.1.2.1/
sudo. install.sh

Enter the above code in the terminal, note, here and on-line methods are not the same, the online method is first installed Openni, then installed Sensorkinect, and is entered sensorkinect/platform/linux/ Createredist path, after a meal set after the installation of the driver, where the driver is installed the latest Kinect driver, is Pro-test easy to use. Fourth Step: Install the function pack under Ros

Enter the following code in the terminal:

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*  

Rospack profile  

Fifth step: Using the Kinect under Ros

1 if you are using KinectV1, please enter the following code:

At this point in the terminal will appear two warn, no matter, do not care, this time your Kinect is already in the output data, you can enter the new terminal rostopic list to view the current topic, if you want to see a variety of images, you can enter in the terminal RQT, this time will open a window, in the Plugins menu bar to select the last item Image_view, you can choose the type of topic in the drop-down menu on the left, note, by default, select/camera/depth/ XXXX Topic will show out the image, because you do not set depth_registered, if you are in the process of display, in the new terminal using rosrun rqt_reconfiguration rqt_reconfiguration , then checked in the Camera->driver depth_registered, at this time your RQT window will not be the image refresh, at this time to switch to/camera/depth_registered/xxxx topic, The image continues to be refreshed.

2 If you are using xtion, then you need to first/etc/openni/globaldefaults.ini the 60th line of the file usbinterface=2, the number is removed, then 2 is changed to 0, at this time in the terminal input

The remaining sections are consistent with 1. Summary

Hopefully this article will help people who are being bothered by these issues, good luck and has funny.