安装
sudo apt-get update
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 0xB01FA116
sudo apt-get install ros-kinetic-desktop-full
初始化 rosdep
sudo rosdep init
rosdep update
sudo rosdep update
sudo rosdep fix-permissions
rosdep update
环境配置
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall
sudo apt-get install ros-kinetic-libfreenect
sudo apt-get install ros-kinetic-freenect-launch
# roslaunch freenect_launch freenect.launch
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install ros-kinetic-openni2-camera
sudo apt-get install ros-kinetic-openni2-launch
sudo apt-get install ros-kinetic-openni-launch
roslaunch openni2_launch openni2.launch
roslaunch freenect_launch freenect.launch
rosrun rviz rviz
mkdir -p ~/catkin_ws/src
cd catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH
rospack find openni2_launch