ROS链接openni库获取kinect数据（PC端）

        ROS库中本身带有kinect的驱动和应用包，但是很难应用到嵌入式系统当中，但是单独的openni库已经很完善了，很容易应用在PC机和嵌入式系统当中。为了在嵌入式的ARM系统中应用ROS和kinect，首先我在PC机上进行ROS链接openni库的实验。

       一、安装openni库

       参考链接：http://www.20papercups.net/programming/kinect-on-ubuntu-with-openni/

            

       二、建立kinect_test包

       首先建立一个ROS的package，然后在src文件夹下建立代码文件，结合ROS教程中WritingPublisherSubscriber（C++）一章中的编程方法和openni中samples里的NiSimpleRead例程代码，使用openni库中的功能函数获取kinect数据，并使用ROS进行消息发布。代码如下（代码包下载请见http://download.csdn.net/detail/hcx25909/5093853）：

        1、kinect_value_talker.cpp

/*****************************************************************************                                                                           **  OpenNI 1.x Alpha                                                         **  Copyright (C) 2011 PrimeSense Ltd.                                       **                                                                           **  This file is part of OpenNI.                                             **                                                                           **  OpenNI is free software: you can redistribute it and/or modify           **  it under the terms of the GNU Lesser General Public License as published **  by the Free Software Foundation, either version 3 of the License, or     **  (at your option) any later version.                                      **                                                                           **  OpenNI is distributed in the hope that it will be useful,                **  but WITHOUT ANY WARRANTY; without even the implied warranty of           **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             **  GNU Lesser General Public License for more details.                      **                                                                           **  You should have received a copy of the GNU Lesser General Public License **  along with OpenNI. If not, see <http://www.gnu.org/licenses/>.           **                                                                           *****************************************************************************///---------------------------------------------------------------------------// Includes//---------------------------------------------------------------------------#include <XnOpenNI.h>#include <XnLog.h>#include <XnCppWrapper.h>#include <XnFPSCalculator.h>#include "ros/ros.h"#include "std_msgs/String.h"#include <sstream>//---------------------------------------------------------------------------// Defines//---------------------------------------------------------------------------#define SAMPLE_XML_PATH "Data/SamplesConfig.xml"//---------------------------------------------------------------------------// Macros//---------------------------------------------------------------------------#define CHECK_RC(rc, what)\if (rc != XN_STATUS_OK)\{\printf("%s failed: %s\n", what, xnGetStatusString(rc));\return rc;\}//---------------------------------------------------------------------------// Code//---------------------------------------------------------------------------using namespace xn;XnBool fileExists(const char *fn){XnBool exists;xnOSDoesFileExist(fn, &exists);return exists;}int main(int argc, char **argv){    XnStatus nRetVal = XN_STATUS_OK;Context context;ScriptNode scriptNode;EnumerationErrors errors;    ros::init(argc, argv, "talker");    ros::NodeHandle n;    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("kinect_value", 1000);    ros::Rate loop_rate(10);const char *fn = NULL;    if(fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;else {printf("Could not find '%s'. Aborting.\n" , SAMPLE_XML_PATH);return XN_STATUS_ERROR;}printf("Reading config from: '%s'\n", fn);    nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);if (nRetVal == XN_STATUS_NO_NODE_PRESENT){XnChar strError[1024];errors.ToString(strError, 1024);printf("%s\n", strError);return (nRetVal);}else if (nRetVal != XN_STATUS_OK){printf("Open failed: %s\n", xnGetStatusString(nRetVal));return (nRetVal);}DepthGenerator depth;nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);CHECK_RC(nRetVal, "Find depth generator");XnFPSData xnFPS;nRetVal = xnFPSInit(&xnFPS, 180);CHECK_RC(nRetVal, "FPS Init");DepthMetaData depthMD;      while ((!xnOSWasKeyboardHit()) && (ros::ok())){        std_msgs::String msg;        std::stringstream ss;nRetVal = context.WaitOneUpdateAll(depth);if (nRetVal != XN_STATUS_OK){printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));continue;}xnFPSMarkFrame(&xnFPS);depth.GetMetaData(depthMD);const XnDepthPixel* pDepthMap = depthMD.Data();        ss << "Frame " << depthMD.FrameID();        ss << "  Middle point is: " <<  depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2);        ss << "  FPS: " << xnFPSCalc(&xnFPS);        msg.data = ss.str();        ROS_INFO("%s", msg.data.c_str());        chatter_pub.publish(msg);        ros::spinOnce();        loop_rate.sleep();}depth.Release();scriptNode.Release();context.Release();return 0;}

       2、kinect_value_listener.cpp

#include "ros/ros.h"#include "std_msgs/String.h"/** * This tutorial demonstrates simple receipt of messages over the ROS system. */void chatterCallback(const std_msgs::String::ConstPtr& msg){  ROS_INFO("I heard: [%s]", msg->data.c_str());}int main(int argc, char **argv){  ros::init(argc, argv, "listener");  ros::NodeHandle n;  ros::Subscriber sub = n.subscribe("kinect_value", 1000, chatterCallback);  ros::spin();  return 0;}

       参考链接：http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

            

       三、修改编译文件

       首先在CMakeLists.txt中将程序和openni库进行链接。在文件中加入头文件路径：

include_directories ("/usr/include/ni/")

       加入编译的文件和链接的库：

rosbuild_add_executable(kinect_value_talker   src/kinect_value_talker.cpp)rosbuild_add_executable(kinect_value_listener src/kinect_value_listener.cpp)target_link_libraries(kinect_value_talker OpenNI)     

        然后进行rosmake编译。

        实验结果：

        参考链接：http://www.ros.org/wiki/openni

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