ubuntu14.04 and ros indigo install kinect driver--16

摘要: 原創博客:轉載請代表出處:http://www.cnblogs.com/zxouxuewei/php

 

今日屢次測設ros indigo install kinect driver ,提示各類失敗,而後心情很是很差 ,時不時的吐槽一下沒有好的資料,在翻遍近百個貼後終於有初步結果。java

1.在ubuntu上安裝kinect驅動比較繁瑣,須要安裝如下3個驅動包,node

  OpenNI-Bin-Dev-Linux-x64-v1.5.7.10git

  NITE-Bin-Dev-Linux-x64-v1.5.2.23github

  Sensor-Bin-Linux-x64-v5.1.2.1ubuntu

2.能夠在個人git上下載:https://github.com/ZXWBOT/kinect_driverapp

git clone https://github.com/ZXWBOT/kinect_driver.git

也能夠直接在網盤下載:http://pan.baidu.com/s/1hqHB10w 提取密碼:wrmnui

3.下載好三個驅動包後,在相應的文件夾解壓。spa

4.而後一次安裝:.net

安裝以前首先說明一下:特殊壓縮的解壓方法:

xxx.tar.gz 解壓:tar xvzf xxx.tar.gz

xxx.zip  解壓:unzip  xxx.zip

xxx.tar.bz2  解壓:tar -jxvf xxx.tar.bz2

xxx.tar.zip 分兩步解壓  1> unzip xxx.tar.zip  結果爲 xxx.tar.bz2

           2>  tar -jxvf xxx.tar.bz2

1>、安裝openni

cd !/kinect/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10
sudo ./install.sh 

若是顯示以下

Installing OpenNI
****************************

copying shared libraries...OK
copying executables...OK
copying include files...OK
creating database directory...OK
registering module 'libnimMockNodes.so'...OK
registering module 'libnimCodecs.so'...OK
registering module 'libnimRecorder.so'...OK
creating java bindings directory...OK
Installing java bindings...OK

*** DONE ***
則安裝成功

2>、安裝NITE

cd ~/kinect/NITE-Bin-Linux-x64-v1.5.2.23
sudo ./install.sh

若是顯示以下:

Installing NITE
***************

Copying shared libraries... OK
Copying includes... OK
Installing java bindings... OK
Installing module 'Features_1_3_0'...
Registering module 'libXnVFeatures_1_3_0.so'... OK
Installing module 'Features_1_3_1'...
Registering module 'libXnVFeatures_1_3_1.so'... OK
Installing module 'Features_1_4_1'...
Registering module 'libXnVFeatures_1_4_1.so'... OK
Installing module 'Features_1_4_2'...
Registering module 'libXnVFeatures_1_4_2.so'... OK
Installing module 'Features_1_5_2'...
Registering module 'libXnVFeatures_1_5_2.so'... OK
Copying XnVSceneServer... OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_3_0.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_3_1.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_4_1.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_4_2.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_5_2.so'...OK
Adding license.. OK

*** DONE ***
則安裝成功

3>、安裝Sensor

cd ~/kinect/Sensor-Bin-Linux-x64-v5.1.2.1
sudo ./install.sh

若是顯示以下

Installing PrimeSense Sensor
****************************

creating config dir /usr/etc/primesense...OK
copying shared libraries...OK
copying executables...OK
registering module 'libXnDeviceSensorV2KM.so' with OpenNI...OK
registering module 'libXnDeviceFile.so' with OpenNI...OK
copying server config file...OK
setting uid of server...OK
creating server logs dir...OK
installing usb rules...OK
installing modprobe blacklist...OK

*** DONE ***
則安裝成功

五、運行示例
連上kinect的數據線

cd ~/kinect/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10/Samples/Bin/x64-Release
./NiViewer 

若是出現kinect畫面則配置成功

6、問題

一、注意若是出現:

One or more of the following nodes could not be enumerated:

Device: PrimeSense/SensorV2/5.1.6.6: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!
Device: PrimeSense/SensorV2/5.1.6.6: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

Press any key to continue . . .

這樣的問題有多是這三個包版本不匹配,我這裏的三個包親測是可用的。可是Sensor若是是5.1.6.6版本則出現上面報錯。
以前安裝好了驅動能夠正常運行的,今天運行openni的節點卻發現不能正常打開Kinect了,報錯以下:

Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

因而我從新作了一遍步驟四

$ cd /home/siat/software/Sensor-Bin-Linux-x64-v5.1.2.1
$ sudo ./install.sh

再次運行示例程序成功啓動Kinect
我嘗試用32位版本的驅動來啓動xtion,仍是提示連不上設備,當我從新編譯上面三個64位驅動運行NiViewr的時候出現以下提示:

One or more of the following nodes could not be enumerated:

Device: PrimeSense/SensorKinect/5.1.2.1: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!
Device: PrimeSense/SensorKinect/5.1.2.1: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

Press any key to continue . . .

我用./install.sh -u 卸載Openni和Sensor,用./uninstall.sh 卸載NITE,而後從新到原64位Sensor驅動下運行./install.sh 以後正常使用NiViewr開啓kinect。

二、注意openni2和NITE2版本的包如今只能用於xtion,kinect只能使用版本1的驅動
三、查看版本

$ pkg-config --modversion opencv

會顯示版本號,好比2.4.11

能夠將OpenCV替換爲其餘包名字,用Tab鍵補全以免名字出錯

四、用apt-get方式安裝的一些包
kinect用的freenect:

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

xtion用的openni:

$ sudo apt-get install ros-indigo-openni-camera
$ sudo apt-get install ros-indigo-openni-launch
上面若是不行請使用下面的驅動
$ sudo apt-get install ros-indigo-openni2-camera
$ sudo apt-get install ros-indigo-openni2-launch

五、關於kinect和xtion切換的問題
openni默認的設備是kinect,若是你用的是kinect,裝完上面的驅動以後運行NiViewer能夠正常使用
可是若是你使用的設備是xtion,直接運行NiViewer會出現以下報錯

Open failed: USB interface is not supported!

運行$ roslaunch openni_launch openni.launch 出現以下報錯

[ INFO] [1464612941.306334563]: Initializing nodelet with 4 worker threads.
[ INFO] [1464612947.664521213]: Number devices connected: 1
[ INFO] [1464612947.666982470]: 1. device on bus 002:04 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1312120224'
[ INFO] [1464612947.667906288]: Searching for device with index = 1
[ INFO] [1464612947.670034045]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/binarydeb/ros-indigo-openni-camera-1.9.5/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!

也是USB interface is not supported! 的問題
解決方案以下:參考博客
修改GlobalDefaults.ini配置文件

$ sudo gedit /etc/openni/GlobalDefaults.ini 

將第60行前面的分號去掉(即取消註釋)

;UsbInterface=2

再次嘗試運行openni.launch 或者NiViewer 就能夠用xtion了,若是不行還須要重啓一下電腦


關於xtion博主還有一個一直很困擾的問題,在剛裝系統的電腦上安裝上面三個驅動使用xtion很正常,可是在使用了一段時間的電腦上裝這三個驅動卻一直提示the device is not connected!,試了上面全部的方案都不行,估計是驅動衝突,我卸載了全部openni、nite相關的包從新安裝驅動也不行,最後只好無奈的使用微軟的Kinect才正常

六、Open failed: Xiron OS failed to wait on event!
運行以下命令:

$ sudo chmod +x /usr/bin/XnSensorServer

七、博主重裝了32位ubuntu14.04,而後下載上面三個驅動對應的32位驅動,編譯以後能夠驅動華碩的xtion pro live,值得注意的是有可能遇到以下問題

Open failed: Failed to set USB interface!

這個問題跟前面的相似,須要改GlobalDefaults.ini 文件,可是32位驅動的這個配置文件不在/etc/openni/下了,搜索了一下文件夾找到這個文件原來是在/usr/etc/primesense/

$ sudo gedit /usr/etc/primesense/GlobalDefaults.ini 

將第60行前面的分號去掉(即取消註釋)

;UsbInterface=2

再次嘗試運行openni.launch 或者NiViewer 就能夠用xtion了,若是不行還須要重啓一下電腦

八、Find user generator failed: Error!
我使用xtion遇到這個問題以下報錯,從新把壓縮包拷到電腦上解壓以後編譯openni、Sensor、NITE這三個驅動,而後取消GlobalDefaults.ini文件裏;UsbInterface=2 行的註釋就行了

$ ./Sample-NiSimpleSkeleton 
Reading config from: '../../Config/SamplesConfig.xml'
Could not find data file /usr/etc/primesense/Features_1_5_2/s.dat
current working directory = /home/robot/software/OpenNI-Bin-Dev-Linux-x86-v1.5.7.10/Samples/Bin/x86-Release
Find user generator failed: Error!

九、No devices connected…. waiting for devices to be connected
若是出現以下報錯:

roslaunch openni_launch openni.launch
[ INFO] [1470382635.817744169]: Initializing nodelet with 4 worker threads.
[ INFO] [1470382643.589318569]: No devices connected.... waiting for devices to be connected
  • 首先是驅動問題
    檢查前面說的驅動是否正確安裝
    若是以前是正常使用的,驅動沒有問題
  • 再檢查USB設備
    運行lsusb
$ lsusb 
Bus 004 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 004 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 004: ID 04f2:b398 Chicony Electronics Co., Ltd 
Bus 003 Device 012: ID 04ca:2007 Lite-On Technology Corp. 
Bus 003 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 029: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 027: ID 045e:02c2 Microsoft Corp. Kinect for Windows NUI Motor
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

若是隻有Microsoft Corp.設備只有一個或沒有說明Kinect線沒插上或者供電不足,檢查Kinect分叉線的鏈接處和電源接口處是否正確鏈接,並檢查電量。

好比個人turtlebot2在底盤電量顯示還有30%左右的時候用lsusb 查看設備發現只有Microsoft Corp. Kinect for Windows NUI Motor 而找不到Microsoft Corp. Xbox NUI Audio ,換一個外部供電的Kinect能夠正常使用,lsusb 顯示的也是兩個設備。這也是很無奈的事情,只好乖乖充電了,也許底盤電量顯示不符合實際。

十、turtlebot官網的驅動安裝

  • 首先按照前面說的安裝openni
    請參照 2、安裝OpenNI
  • 安裝SensorKinect
mkdir ~/kinectdriver 
cd ~/kinectdriver 
git clone https://github.com/avin2/SensorKinect 
cd SensorKinect/Bin/
tar xvjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1/
sudo ./install.sh
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