Instalar a Kinect Xbox 360 no Debian 9 e ROS Melodic
Ambiente da instalação num desktop Intel(R) Core(TM)2 Duo CPU E7400 @ 2.80GHz.
lsb_release -a No LSB modules are available. Distributor ID: Debian Description: Debian GNU/Linux 9.9 (stretch) Release: 9.9 Codename: stretch Linux debian 4.9.0-9-amd64 #1 SMP Debian 4.9.168-1+deb9u3 (2019-06-16) x86_64 GNU/Linux * /rosdistro: melodic * /rosversion: 1.14.3
Instalei o seguinte os seguintes pacotes de software mais ou menos pela ordem indicada:
sudo apt install zlib1g-dev mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev sudo apt install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev doxygen graphviz mono-complete sudo apt install freenect python-freenect sudo apt-get install ros-melodic-vision-opencv sudo apt install ros-melodic-libfreenect sudo apt-get install libopenni0 libopenni-dev sudo apt-get install ros-melodic-openni-launch sudo apt-get install ros-melodic-openni-camera sudo apt-get install ros-melodic-rgbd-launch
Testei no ROS com o comando e resultados positivos:
roslaunch openni_launch openni.launch
[ROSCORE START INFO AND LAUNCH INFO ]
[ 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.
O resultado pareceu animador. Reconheceu o dispositivo. Queixa-se apenas de não encontrar o ficheiro de calibração para o dispositivo. Situação a ver mais tarde.