[python] view plain copy
sudo apt-get install ros-kinetic-desktop-full # ros和desktop间的indigo(靛蓝)为 ros版本号
#如果用户计算机的空间有限可以去掉-full
2、 安装rosdep
[cpp] view plain copy
sudo rosdep init
rosdep update
3 、user的terminal命令行环境配置,即找到可执行命令。
source /opt/ros/indigo/setup.bash #这句是关键,但只影响当前打开的terminal
#零时性的,适合于多版本ros共存时,根据需求切换不同版本的ros的命令
下面两条将终身影响,即每次打开terminal都能找到ros的相关命令。
[python] view plain copy
echo "source /opt/ros/kinetic/setup.bash" >>~/.bashrc #修改
source ~/.bashrc #使能
或者:
source /opt/ros/kinetic/setup.bash
切换到主目录下。。。。
source .bashrc #使能
注意事项:
提前 写入了indigo的path,必须删除掉!
sudo gedit ~/.bashrc
找到条目,删除保存
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
4 、辅助工具rosinstall安装
[python] view plain copy
sudo apt-get install python-rosinstall
安装完成
kinetic@vm:~$ sudo apt-get install ros-kinetic-freenect-*
kinetic@vm:~$ git clone https://github.com/avin2/SensorKinect.git
kinetic@vm:~$ cd SensorKinect/Bin
32位安装:
kinetic@vm:~/SensorKinect/Bin$ tar xvf SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2
kinetic@vm:~/SensorKinect/Bin$ cd Sensor-Bin-Linux-x86-v5.1.2.1/
kinetic@vm:~/SensorKinect/Bin/Sensor-Bin-Linux-x86-v5.1.2.1$ sudo ./install.sh
64位安装:
kinetic@vm:~/SensorKinect/Bin$ tar xvf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
kinetic@vm:~/SensorKinect/Bin/Sensor-Bin-Linux-x64-v5.1.2.1$ sudo ./install.sh
执行后
[sudo] password for kinetic:
Installing PrimeSense Sensor
****************************
creating config dir /usr/etc/primesense...OK
copying shared libraries...OK
copying executables...OK
registering module 'libXnDeviceSensorV2KM.so' with OpenNI...OK
registering module 'libXnDeviceFile.so' with OpenNI...OK
copying server config file...OK
setting uid of server...OK
creating server logs dir...OK
installing usb rules...OK
installing modprobe blacklist...OK
*** DONE ***
---------------------
连接成功
kinect的驱动文件在/opt/ros/kinetic/share/freenect_launch/launch/freenect.launch
可将freenect.launch文件复制出来
然后在终端执行
$roslaunch freenect.launch
在rviz工具中查看kinect获取图像
$rosrun rviz rviz
在rviz界面中添加点云和Image插件,设置点云的话题,和Fixed Frame
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