ROS indigo下Kinect v1的驱动安装与调试

本文简要叙述了在ROS indigo版本下Kinect v1的驱动安装与调试过程。

1. 实验环境

（1）硬件：台式机和Kinect v1。

台式机配置：

Intel(R)Core(TM)i5-6500 CPU @ 3.20GHz 3.20GHz；
RAM: 16.0GB；
GPU: NVIDIA GeForce GTX 1060 6GB。

（2）软件：Ubuntu 14.04 + ROS indigo。

2. 安装ROS软件包

以下2种方式，任选一种安装，或者全部安装，选择一种运行也可。

（1）openni_launch

sudo apt-get install ros-indigo-openni-camera

sudo apt-get install ros-indigo-openni-launch

rosstack profile

rospack profile

（2）freenect_launch

sudo apt-get install ros-indigo-freenect-camera ros-indigo-freenect-stack ros-indigo-freenect-launch

或者直接一条命令将两种方式同时安装：

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*

3. 测试Kinect v1设备

方式1:

终端1:

roslaunch openni_launch openni.launch

yuanlibin@yuanlibin:~$ roslaunch openni_launch openni.launch

... logging to /home/yuanlibin/.ros/log/7e08363e-2be5-11e8-b5a2-1c1b0d61bf22/roslaunch-yuanlibin-.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yuanlibin:37483/

SUMMARY

========

PARAMETERS

 * /camera/camera_nodelet_manager/num_worker_threads:

 * /camera/depth_rectify_depth/interpolation:

 * /camera/depth_registered_rectify_depth/interpolation:

 * /camera/disparity_depth/max_range: 4.0

 * /camera/disparity_depth/min_range: 0.5

 * /camera/disparity_registered_hw/max_range: 4.0

 * /camera/disparity_registered_hw/min_range: 0.5

 * /camera/disparity_registered_sw/max_range: 4.0

 * /camera/disparity_registered_sw/min_range: 0.5

 * /camera/driver/depth_camera_info_url:

 * /camera/driver/depth_frame_id: camera_depth_opti...

 * /camera/driver/depth_registration: False

 * /camera/driver/device_id: #

 * /camera/driver/rgb_camera_info_url:

 * /camera/driver/rgb_frame_id: camera_rgb_optica...

 * /rosdistro: indigo

 * /rosversion: 1.11.

NODES

  /camera/

    camera_nodelet_manager (nodelet/nodelet)

    depth_metric (nodelet/nodelet)

    depth_metric_rect (nodelet/nodelet)

    depth_points (nodelet/nodelet)

    depth_rectify_depth (nodelet/nodelet)

    depth_registered_hw_metric_rect (nodelet/nodelet)

    depth_registered_metric (nodelet/nodelet)

    depth_registered_rectify_depth (nodelet/nodelet)

    depth_registered_sw_metric_rect (nodelet/nodelet)

    disparity_depth (nodelet/nodelet)

    disparity_registered_hw (nodelet/nodelet)

    disparity_registered_sw (nodelet/nodelet)

    driver (nodelet/nodelet)

    ir_rectify_ir (nodelet/nodelet)

    points_xyzrgb_hw_registered (nodelet/nodelet)

    points_xyzrgb_sw_registered (nodelet/nodelet)

    register_depth_rgb (nodelet/nodelet)

    rgb_debayer (nodelet/nodelet)

    rgb_rectify_color (nodelet/nodelet)

    rgb_rectify_mono (nodelet/nodelet)

  /

    camera_base_link (tf/static_transform_publisher)

    camera_base_link1 (tf/static_transform_publisher)

    camera_base_link2 (tf/static_transform_publisher)

    camera_base_link3 (tf/static_transform_publisher)

auto-starting new master

process[master]: started with pid []

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7e08363e-2be5-11e8-b5a2-1c1b0d61bf22

process[rosout-]: started with pid []

started core service [/rosout]

process[camera/camera_nodelet_manager-]: started with pid []

process[camera/driver-]: started with pid []

process[camera/rgb_debayer-]: started with pid []

process[camera/rgb_rectify_mono-]: started with pid []

process[camera/rgb_rectify_color-]: started with pid []

process[camera/ir_rectify_ir-]: started with pid []

process[camera/depth_rectify_depth-]: started with pid []

process[camera/depth_metric_rect-]: started with pid []

process[camera/depth_metric-]: started with pid []

process[camera/depth_points-]: started with pid []

process[camera/register_depth_rgb-]: started with pid []

process[camera/points_xyzrgb_sw_registered-]: started with pid []

process[camera/depth_registered_sw_metric_rect-]: started with pid []

process[camera/depth_registered_rectify_depth-]: started with pid []

[ INFO] [1521512530.084412228]: Initializing nodelet with  worker threads.

process[camera/points_xyzrgb_hw_registered-]: started with pid []

process[camera/depth_registered_hw_metric_rect-]: started with pid []

process[camera/depth_registered_metric-]: started with pid []

process[camera/disparity_depth-]: started with pid []

process[camera/disparity_registered_sw-]: started with pid []

process[camera/disparity_registered_hw-]: started with pid []

process[camera_base_link-]: started with pid []

process[camera_base_link1-]: started with pid []

process[camera_base_link2-]: started with pid []

process[camera_base_link3-]: started with pid []

Warning: USB events thread - failed to set priority. This might cause loss of data...

Warning: USB events thread - failed to set priority. This might cause loss of data...

[ INFO] [1521512530.991225346]: Number devices connected:

[ INFO] [1521512530.991443026]: . device on bus : is a SensorKinect (2ae) from PrimeSense (45e) with serial id ''

[ INFO] [1521512530.993391990]: Searching for device with index =

[ INFO] [1521512532.075612809]: Opened 'SensorKinect' on bus : with serial number ''

[ INFO] [1521512532.160335981]: rgb_frame_id = 'camera_rgb_optical_frame'

[ INFO] [1521512532.160547264]: depth_frame_id = 'camera_depth_optical_frame'

[ WARN] [1521512532.167038548]: Camera calibration file /home/yuanlibin/.ros/camera_info/rgb_0000000000000000.yaml not found.

[ WARN] [1521512532.167074136]: Using default parameters for RGB camera calibration.

[ WARN] [1521512532.167101562]: Camera calibration file /home/yuanlibin/.ros/camera_info/depth_0000000000000000.yaml not found.

[ WARN] [1521512532.167119680]: Using default parameters for IR camera calibration.

终端2:

rosrun rqt_image_view rqt_image_view

如下图所示：

方式2:

终端1:

roslaunch freenect_launch freenect-registered-xyzrgb.launch

yuanlibin@yuanlibin:~$ roslaunch freenect_launch freenect-registered-xyzrgb.launch

... logging to /home/yuanlibin/.ros/log/4f23a262-2be6-11e8-90ab-1c1b0d61bf22/roslaunch-yuanlibin-.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yuanlibin:38951/

SUMMARY

========

PARAMETERS

 * /camera/camera_nodelet_manager/num_worker_threads:

 * /camera/depth_registered_rectify_depth/interpolation:

 * /camera/driver/data_skip:

 * /camera/driver/debug: False

 * /camera/driver/depth_camera_info_url:

 * /camera/driver/depth_frame_id: camera_depth_opti...

 * /camera/driver/depth_registration: True

 * /camera/driver/device_id: #

 * /camera/driver/diagnostics_max_frequency: 30.0

 * /camera/driver/diagnostics_min_frequency: 30.0

 * /camera/driver/diagnostics_tolerance: 0.05

 * /camera/driver/diagnostics_window_time: 5.0

 * /camera/driver/enable_depth_diagnostics: False

 * /camera/driver/enable_ir_diagnostics: False

 * /camera/driver/enable_rgb_diagnostics: False

 * /camera/driver/rgb_camera_info_url:

 * /camera/driver/rgb_frame_id: camera_rgb_optica...

 * /rosdistro: indigo

 * /rosversion: 1.11.

NODES

  /camera/

    camera_nodelet_manager (nodelet/nodelet)

    depth_registered_hw_metric_rect (nodelet/nodelet)

    depth_registered_metric (nodelet/nodelet)

    depth_registered_rectify_depth (nodelet/nodelet)

    driver (nodelet/nodelet)

    points_xyzrgb_hw_registered (nodelet/nodelet)

    rgb_debayer (nodelet/nodelet)

    rgb_rectify_color (nodelet/nodelet)

    rgb_rectify_mono (nodelet/nodelet)

  /

    camera_base_link (tf/static_transform_publisher)

    camera_base_link1 (tf/static_transform_publisher)

    camera_base_link2 (tf/static_transform_publisher)

    camera_base_link3 (tf/static_transform_publisher)

auto-starting new master

process[master]: started with pid []

ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f23a262-2be6-11e8-90ab-1c1b0d61bf22

process[rosout-]: started with pid []

started core service [/rosout]

process[camera/camera_nodelet_manager-]: started with pid []

process[camera/driver-]: started with pid []

process[camera/rgb_debayer-]: started with pid []

process[camera/rgb_rectify_mono-]: started with pid []

process[camera/rgb_rectify_color-]: started with pid []

process[camera/depth_registered_rectify_depth-]: started with pid []

process[camera/points_xyzrgb_hw_registered-]: started with pid []

process[camera/depth_registered_hw_metric_rect-]: started with pid []

process[camera/depth_registered_metric-]: started with pid []

process[camera_base_link-]: started with pid []

process[camera_base_link1-]: started with pid []

process[camera_base_link2-]: started with pid []

process[camera_base_link3-]: started with pid []

[ INFO] [1521512880.894225759]: Initializing nodelet with  worker threads.

[ INFO] [1521512881.035164983]: Number devices connected:

[ INFO] [1521512881.035200471]: . device on bus : is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B70773103929441B'

[ INFO] [1521512881.035586547]: Searching for device with index =

[ INFO] [1521512886.486004198]: Starting a 3s RGB and Depth stream flush.

[ INFO] [1521512886.486190837]: Opened 'Xbox NUI Camera' on bus : with serial number 'B70773103929441B'

[ WARN] [1521512886.495869607]: Could not find any compatible image output mode for . Falling back to default image output mode .

[ WARN] [1521512886.495915261]: Could not find any compatible depth output mode for . Falling back to default depth output mode .

[ INFO] [1521512886.503091540]: rgb_frame_id = 'camera_rgb_optical_frame'

[ INFO] [1521512886.503133073]: depth_frame_id = 'camera_depth_optical_frame'

[ WARN] [1521512886.516610578]: Camera calibration file /home/yuanlibin/.ros/camera_info/rgb_B70773103929441B.yaml not found.

[ WARN] [1521512886.516673295]: Using default parameters for RGB camera calibration.

[ WARN] [1521512886.516711780]: Camera calibration file /home/yuanlibin/.ros/camera_info/depth_B70773103929441B.yaml not found.

[ WARN] [1521512886.516746978]: Using default parameters for IR camera calibration.

[ INFO] [1521512889.945930001]: Stopping device RGB and Depth stream flush.

终端2:

rosrun rqt_image_view rqt_image_view

如下图所示：

终端2或者用命令(=后面是发布的主题，可以用rostopic list命令查看)

rosrun image_view image_view image:=/camera/rgb/image_color

查看彩色图像如下图所示：

rosrun image_view image_view image:=/camera/depth_regisred/image

查看深度图像如下图所示：

终端2或者用命令

rosrun rviz rviz

点击add，选择类型camera。添加成功后选择camera菜单下的Iamge Topic选项，选择主题/camera/rgb/image_color或者/camera/depth_registered/image查看彩色图像和深度图像。

彩色图像如下图所示：

还可以查看点云：点击add添加PointCloud2类型，修改“topic”，如下图所示：

ubuntu系统下虽然都可以查看彩色图像和深度图像，但是无法保存其成对的原始数据，关于Kinect v1彩色和深度图像对的采集步骤详见：

Kinect v1 (Microsoft Kinect for Windows v1 )彩色和深度图像对的采集步骤

参考文献：http://blog.csdn.net/x_r_su/article/details/52904113