Please note that this has only been tested in Ubuntu 14.04 64 bit with ROS Indigo and Microsoft Kinect 360. It is assumed that you already have ROS Indigo installed. If not, then follow this link for installation of ROS Indigo.
First we have to install some peripheral Libraries:
sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev openjdk-6-jdk doxygen graphviz mono-complete
Download the OpenNI package
mkdir ~/kinect cd ~/kinect git clone https://github.com/OpenNI/OpenNI.git
Compile the package using the Redist-System
cd OpenNI/Platform/Linux/CreateRedist/ chmod +x RedistMaker ./RedistMaker
Next, Install OpenNI:
cd Final tar -xjf OpenNI-Bin-Dev-Linux-x64-v126.96.36.199.tar.bz2 cd OpenNI-Bin-Dev-Linux-x64-v188.8.131.52 sudo ./install.sh
This part is similar to the installation of OpenNI package.
Download the package:
cd ~kinect/ git clone git://github.com/ph4m/SensorKinect.git
Compile package using Redist-System:
cd SensorKinect/Platform/Linux/CreateRedist/ chmod +x RedistMaker ./RedistMaker
cd Final tar -xjf Sensor-Bin-Linux-x64-v184.108.40.206.tar.bz2 cd Sensor-Bin-Linux-x64-v220.127.116.11 sudo ./install.sh
Please note that only the Versions NITE v18.104.22.168 and NITE v22.214.171.124 will work for you. Paste the nite-folder into your kinect-folder to keep track of your data:
cd ~kinect/nite/ tar -xjf NITE-Bin-Dev-Linux-x64-v126.96.36.199.tar.bz2 cd NITE-Bin-Dev-Linux-x64-v188.8.131.52 sudo ./install.sh
Now that everything around ROS is installed, we should reboot the system:
After we have installed all peripheral Libraries, we can install the required ros-core-components for OpenNI-usage. But we have to delete one library before that because of some issues that will appear otherwise:
sudo apt-get remove libopenni-sensor-pointclouds0
Next is the installation of ROS-Kinect Driver:
sudo apt-get install ros-indigo-openni-launch sudo apt-get install ros-indigo-openni-camera
Finally we can install the openni_tracker to our usually workspace (for example the catkin_ws):
cd ~catkin_ws/src git clone https://github.com/ros-drivers/openni_tracker.git cd .. catkin_make
Now that the OpenNI tracker is installed, you’ll be able to track skeleton of a person and view it in Rviz. You’ll be needing several terminals to work with OpenNI Tracker.
roslaunch openni_launch openni.launch
roslaunch openni_tracker openni_tracker
rosrun rviz rviz
To view the skeleton frame in Rviz, set the base link from
openni_depth_frame and add a
Thanks to Don Bastiano for coming up with this.