12.2-kinectv2ROS environment to build

Visual structures

Foreword

• Basic work, pay attention, do not support USB2.0, only it supports USB3.0
• Ubuntu16.04, old version, please go directly to the point of view github
  
  Visual build
  Preface
  reference
  record
  the installation libfreenect2
  test
  copy iai-kinect2ROS package
  tested
  Intel notebook problem
  Intel GPU problem
  AMD desktop graphics test
  cmake disabled OPENCL
  the USB permission issues
  running ROS
  Nvidia graphics settings
  TOC

reference

kinectv2-IAI
libfreenect2
the USB authority
detailed blog

recording

Installation libfreenect2

cd libfreenect2
cd depends; ./download_debs_trusty.sh
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
sudo apt-get install beignet-dev
sudo apt-get install libva-dev libjpeg-dev
sudo apt-get install libopenni2-dev

cd ..
mkdir build
cd ./build
cmake ..  -DENABLE_CXX11=ON
make -j4
sudo make install

# /usr/local/

test

• Finally, the program can be run in the following have a build bin folder, placing the generated output file, Kinect plug, then run. And the yellow light becomes white, showing a drive. Note: Only for USB3 interfaces, but fortunately desktops and laptops have 3.0 port. Super commands can be changed as follows.
  sudo ./bin/Protonect
• ./Protonect cl Check-dependent error message

Package replication iai-kinect2ROS

catkin_make

test

roslaunch kinect2_bridge kinect2_bridge.launch

Intel notebook problem

Intel GPU problem

sudo apt install ocl-icd-dev

• Not achieve on their new laptops, it may be the latest issue of kabylake GPU

AMD desktop graphics test

• Because also 16.04 + AMD graphics card, so the dependencies and pre-installation agreement

cmake disabled OPENCL

• Since both computers are OPENCL problem, so the driver package reinstall

cmake .. -DENABLE_CXX11=ON -DENABLE_OPENCL=OFF -DENABLE_CUDA=OFF -DENABLE_TEGRAJPEG=OFF

usb rights issue

• Create a udev rule file to solve

cd /etc/udev/rules.d
sudo gedit 90-kinect2.rules

# ATTR{product}=="Kinect2"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"

• By this command to verify the information USB device

dmesg | grep "045e"

• Re-plug the device can be

Run ROS

roscore
rosrun kinect2_bridge kinect2_bridge _reg_method:=cpu _depth_method:=opengl
# 颜色和深度数据混合
rosrun kinect2_viewer kinect2_viewer
# 只有深度数据
rosrun kinect2_viewer kinect2_viewer ir

• launch the file has been updated

roslaunch kinect2_bridge kinect2_bridge

Nvidia graphics settings

• Before installed the official driver

sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libva-dev libjpeg-dev
sudo apt-get install beignet-dev
sudo apt-get install nvidia-modprobe opencl-headers

• As the cuda installation failed, so we have to not to engage in.