1、在ros indigo下安装kinect2的驱动libfreenect时，经常会安装不成功，出现GLFW65505之类的报错，主要是因为opengl的版本太低；所以使用Kinect2建议在ROS-kinetic下安装并驱动（Ubuntu16.04）
2、用到的网址
http://blog.csdn.net/sunbibei/article/details/51594824 kinetic2驱动安装 libfreenect+iai
https://github.com/code-iai/iai_kinect2/issues/153
https://blog.techbridge.cc/2016/05/14/ros-object-recognition-kitchen/ ORK安装，最后detection_ros_ork命令上面的命令要修改
http://wg-perception.github.io/ork_tutorials/tutorial03/tutorial.html ORK官网
https://github.com/wg-perception/linemod/issues/28 由于kinect2特殊的分辨率导致linemod检测失败的解决方法
3、终端输入
cd kinect_ws source devel/setup.bash roslaunch kinect2_bridge kinect2_bridge.launch rviz cd ork_ws source devel/setup.bash rosrun topic_tools relay /kinect2/qhd/image_depth_rect /camera/depth_registered/image_raw rosrun topic_tools relay /kinect2/qhd/image_color_rect /camera/rgb/image_rect_color rosrun topic_tools relay /kinect2/qhd/camera_info /camera/rgb/camera_info rosrun topic_tools relay /kinect2/qhd/camera_info /camera/depth_registered/camera_info rosrun topic_tools relay /kinect2/qhd/points /camera/depth_registered/points rosrun tf static_transform_publisher 0 0 0 0 0 0 kinect2_ir_opticalrame camera_depth_optical_frame 40 rosrun object_recognition_core detection -c `rospack find object_recognition_linemod`/conf/detection.ros.ork
linemod算法配置记录
