rgbdslam v2安装

Ubuntu14.04+OpenCV2.4.9+Kinect1.0

#Prepare Workspace

source /opt/ros/hydro/setup.bash

mkdir -p ~/rgbdslam_catkin_ws/src

cd ~/rgbdslam_catkin_ws/src

catkin_init_workspace

cd ~/rgbdslam_catkin_ws/

catkin_make

source devel/setup.bash

#Get RGBDSLAM

cd ~/rgbdslam_catkin_ws/src

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

unzip -q hydro.zip

cd ~/rgbdslam_catkin_ws/

#Install

rosdep update

rosdep install rgbdslam

catkin_make

附：

如果遇到不能识别Kinect的问题，即运行 roslaunch openni_launch openni.launch 提示 No devices connected.... waiting for devices to be connected.

那么

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

cd Bin

tar xjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2

cd Sensor-Bin-linux-x64-v5.1.2.1

./install.sh

(若在此处遇到安装问题，可能是因为缺少OpenNI 1.5.4,可到https://github.com/OpenNI/OpenNI下载编译。)


再测试 roslaunch openni_launch openni.launch 就没有问题了。