環境：

獨顯gtx1050ti 已安裝Nvidia-390顯示卡驅動

OS: Ubuntu 16.04.5 LTS x64

ROS Distro: Kinetic

Machine: HP-OMEN 暗影精靈4

之前由於按照教程安裝了SensorKinect驅動出現了錯誤 ：

Number devices connected: 2   詳情如下

0. Pre-requsites

sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk

sudo apt-get install doxygen graphviz mono-complete
 

OpenNI says Doxygen is optional. This is lies. Install it.

I have also kept this seperate from my catkin workspace (which is called catkin_ws), so I created a folder called "kinect" in the home directory.

cd ~/
mkdir kinect

1. Install OpenNI

cd ~/kinect
git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx]  
 

(where [xxx] is your architecture and this particular OpenNI release. In my case, this is x64)

sudo ./install.sh

好了！到此為止！ 不要繼續安裝SensorKinect驅動！

2. Install Kinetic OpenNI

sudo apt-get install ros-kinetic-openni*

Done! 

現在開個終端執行

roslaunch openni_launch openni.launch 

沒有紅色錯誤說明成功安裝~

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