rgbdslam_v2实践

http://blog.csdn.net/u012062327

通过git下载相应的indigo 版本https://github.com/felixendres/rgbdslam_v2，并按照readme文件创建ROS环境和编译、安装rgbdslam_v2。以下是本人在实践过程中的遇到的问题及解决方法。

1） Catkin_make

出现 siftgpu错误 1

解决方法：

      把 ／rgbdslam_v2／CmakeLists.txt里面的set(USE_SIFT_GPU1)改为set(USE_SIFT_GPU0)

2）

重新打开shell，Catkin_make之前需要 source devel/setup.bash

3)Catkin_make失败，出现

解决方法：下载与ros版本想适应的rgbdslam。由于本linux系统为LTS14.04，因此安装ROSindigo并并下载相应的rgbdslamhttps://github.com/felixendres/rgbdslam_v2

4)  kinect 1:Nodevices connected.... waiting for devices to be connected

解决方法：

A) sudo apt-get installROS-Indigo-OpenNI-Launch (probably similar to what you installed)

B) Use step 3 from this for the drivers: http://www.20papercups.net/programmin...

step 3：

The sensor module you want is also onGitHub, but from a different user. So, we can check out the code. We also needto get the kinect branch, not master.

git clone https://github.com/avin2/SensorKinect

cd SensorKinect

The install process for the sensor ispretty much the same as for OpenNI itself:

cd Platform/Linux/CreateRedist

chmod +x RedistMaker

./RedistMaker

cd ../Redist/Sensor-Bin-Linux-[xxx](where[xxx] is your architecture and this particular OpenNI release)

chmod +x install.sh

sudo ./install.sh

C) Play with it: http://wiki.ros.org/openni_launch/Tut...

If that does work, please comment.

相关库：ros-indigo-openni2-*

              ros-openni-*

              ros-indigo-freenect-*

kinect 2:Nodevices connected.... waiting for devices to be connected

解决方法：得修改openni+rgbdslam.launch文件