Instalar a Kinect Xbox 360 no Ubuntu Trusty 14.04 e ROS Indigo
Ambiente da instalação num eeepc
lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 14.04.6 LTS Release: 14.04 Codename: trusty uname -a Linux eeepc 4.4.0-148-generic #174~14.04.1-Ubuntu SMP Thu May 9 08:18:11 UTC 2019 i686 i686 i686 GNU/Linux * /rosdistro: indigo * /rosversion: 1.11.21
lsusb | grep Xbox
Identificou correctamente a kinect.
Este foi o primeiro conjunto de software instalado. Era suposto ter funcionado.
sudo apt install ros-indigo-libfreenect sudo apt-get install libopenni0 libopenni-dev sudo apt-get install ros-indigo-vision-opencv sudo apt-get install ros-indigo-openni-launch sudo apt-get install ros-indigo-openni-camera
O comando freenect-glview funcionou, mas no ROS o comando falhou.
roslaunch openni_launch openni.launch
O erro era o seguinte:
process[camera_base_link2-23]: started with pid [8037] process[camera_base_link3-24]: started with pid [8059] [ INFO] [1565054912.131945805]: No devices connected.... waiting for devices to be connected [ INFO] [1565054915.132586730]: No devices connected.... waiting for devices to be connected
Prossegui com outras instruções.
cd ~/catkin_ws/src git clone https://github.com/ros-drivers/openni_camera cd ~/catkin_ws catkin_make
O erro persistiu. Instalei o seguinte pacote e ficou na mesma.
sudo apt-get install ros-indigo-rgbd-launch
Experimentei outra alternativa.
sudo apt-get install freenect git clone https://github.com/avin2/SensorKinect cd SensorKinect/Bin tar xjf SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2 #tar xjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2 cd Sensor-Bin-Linux-x86-v5.1.2.1 #cd Sensor-Bin-Linux-x64-v5.1.2.1 ./install.sh
Desta vez com sucesso.
roslaunch openni_launch openni.launch [ INFO] [1565025299.780095609]: Number devices connected: 1 [ INFO] [1565025299.780700518]: 1. device on bus 001:26 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00361A02199045A' [ INFO] [1565025299.781766752]: Searching for device with index = 1 [ INFO] [1565025299.828383867]: Opened 'SensorV2' on bus 1:26 with serial number 'A00361A02199045A' [ INFO] [1565025299.866017630]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1565025299.866554124]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1565025299.872490063]: Camera calibration file /home/inaciose/.ros/camera_info/rgb_A00361A02199045A.yaml not found. [ WARN] [1565025299.873261908]: Using default parameters for RGB camera calibration. [ WARN] [1565025299.874052858]: Camera calibration file /home/inaciose/.ros/camera_info/depth_A00361A02199045A.yaml not found.
Fonte:
– http://blog.justsophie.com/installing-kinect-nite-drivers-on-ubuntu-14-04-and-ros-indigo/