Ubuntu16.04安装iai_kinect2爬坑记录

Ubuntu16.04安装iai_kinect2爬坑记录

安装iai_kinect2爬坑经共享

1. iai_kinect2下载安装

网上有很多的安装教程，将下载文件放入工作空间的src文件夹下。在src文件夹下打开终端输入命令

git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths . 
cd ~/catkin_ws #进入自己的工作空间下
catkin_make -DCMAKE_BUILD_TYPE="Release"

理论上到这里，每行命令都成功的情况下，就算配置结束了，可以使用命令

roslaunch kinect2_bridge kinect2_bridge.launch

进行最后的效果预览。（最后有提供）

2. kinect2_XXXX: Cannot locate rosdep definition for [XXX]

当使用rosdep install -r --from-paths . 出现以下命令报错时，使用

rosdep install --from-paths ~/catkin_ws/src/iai_kinect2 --ignore-src -r  

注：使用自己的工作空间地址，如果依然报错，那就别管了。

3. Could not find a package configuration file provided by “cv_bridge” with any of the following names:

使用catkin_make -DCMAKE_BUILD_TYPE="Release"出现错误：

开始套娃～

看了网上很多教程，说可以使用

sudo apt-get install ros-kinect-cv-brigde

但是我根本没有这个软件包，会提示无法定位到软件包。没办法只能去直接下源码了。

 git clone --branch kinetic https://hub.fastgit.org/ros-perception/vision_opencv.git#或者使用git clone --branch kinetic https://github.com/ros-perception/vision_opencv.git

记得要下载正确的版本。

将下载好的文件放在你的工作空间的src文件夹下。这时候出现了一个新的有趣的事情。现在有两个选择。
（1）可以使用进入cv_brigde文件夹下，编译安装cv_brigde。（不推荐，因为后面的错没法弄，但如果后面不报错，这个方法也可行）

cd cv_brigde
mkdir build && cd build
cmake ..
make 
make install #可能会报错，建议加上sudo

（2）进入工作空间下使命catkin命令编译安装

catkin_make --pkg vision_opencv

再次使用命令

catkin_make -DCMAKE_BUILD_TYPE="Release"

然后出现错误

可以看到又少了一个，没办法，缺哪个装哪个，这个不需要指定版本。

git clone https://github.com/ros-perception/image_transport_plugins.git

文件下载下来，不需要将其中的内容取出来，不然要要把其中的内容一个一个放进去。
再次使用命令

catkin_make -DCMAKE_BUILD_TYPE="Release"

这时候就会直接成功了。

4. Failed to load nodelet [/kinect2_points_xyzrgb_XX] of type [depth_image_proc/point_cloud_xyzrgb]

编译成功以后不要忘记

source devel/setup.bash

然后使用命令

roslaunch kinect2_bridge kinect2_bridge.launch 

然后就出红了。

[ERROR] [1625489619.447342991]: Failed to load nodelet [/kinect2_points_xyzrgb_sd] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[ERROR] [1625489619.447363189]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[FATAL] [1625489619.447479178]: Failed to load nodelet '/kinect2_points_xyzrgb_sd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
[ERROR] [1625489619.456329901]: Failed to load nodelet [/kinect2_points_xyzrgb_qhd] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[ERROR] [1625489619.456348069]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[FATAL] [1625489619.456460876]: Failed to load nodelet '/kinect2_points_xyzrgb_qhd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
[ERROR] [1625489619.464895019]: Failed to load nodelet [/kinect2_points_xyzrgb_hd] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[ERROR] [1625489619.464912232]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  kinect2_bridge/kinect2_bridge_nodelet nodelet_tutorial_math/Plus
[FATAL] [1625489619.465045516]: Failed to load nodelet '/kinect2_points_xyzrgb_hd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'

如果你使用的rosrun命令，其实也会出错，只是没显示出来而已。下载一个image_pipeline。放入src文件夹下。

git clone --branch kinetic https://github.com/ros-perception/image_pipeline.git

再次使用命令编译安装

catkin_make --pkg image_pipeline

这个时候如果再出现类似的问题接着装就好了。

再次使用命令

roslaunch kinect2_bridge kinect2_bridge.launch

出现下图表示正确

5. 结果展示

最后新开终端输入命令

source devel/setup.bash
rosrun kinect2_viewer kinect2_viewer 

结果展示

爬坑结束。