ubuntu14.04安裝運行RGBDSLAMV2

ubuntu14.04安裝運行RGBDSLAMV2

決定把目前的開源SLAM方案都編譯運行一遍，然後比較其各種優劣，今天主要進行RGBDSLAMV2的運行，記錄下來，然後深究其內部原理：

運行環境 ubuntu14.04 LTS ROS indigo kinect1

1.Kinect驅動的安裝

說起這個有點坑了，網上各種版本的都有，實測好用的倒沒幾個，這裏我總結一個堪稱史上最簡，並且親測有用的版本，希望對大家有所幫助。

//安裝依賴項
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

//安裝驅動

mkdir ~/kinect 

cd ~/kinect 

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

2.安裝ROS功能包

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

rospack profile

3.使用Kinect

roslaunch freenect_launch freenect-registered-xyzrgb.launch 

//彩色圖
rosrun image_view image_view image:=/camera/rgb/image_raw

//深度圖
rosrun image_view image_view image:=/camera/depth_registered/image_raw

大功告成，下面開始RGBDSLAM的編譯

4.編譯RGBDSLAM

1.創建工作空間並進入：

mkdir ~/rgbdslam_catkin_ws

cd ~/rgbdslam_catkin_ws

2.創建src文件夾並初始化工作空間

mkdir ~/rgbdslam_catkin_ws/src
cd ~/rgbdslam_catkin_ws/src
catkin_init_workspace

3.進入rgbdslam_catkin_ws文件夾並調用終端配置文件

cd ~/rgbdslam_catkin_ws

catkin_make

source devel/setup.bash

4.從github上下載rgbdslam源碼並解壓到src文件夾中

cd ~/rgbdslam_catkin_ws/src

wget -q http://github.com/felixendres/rgbdslam_v2/archive/indigo.zip

unzip -q indigo.zip

5.編譯並安裝rgbdslam

cd ~/rgbdslam_catkin_ws/

rosdep update

rosdep install rgbdslam

catkin_make

6.更改launch/openni+rgbdslam.launch話題爲你的話題，即可

7.執行以下，命令即可

cd ~/rgbdslam_catkin_ws
roscore
roslaunch rgbdslam openni+rgbdslam.launch
rosrun image_view image_view image:=/camera/rgb/image_raw

rosrun image_view image_view image:=/camera/depth_registered/image_raw

大功告成