電腦連線上kinect v1 ，執行命令：

roslaunch turtlebot_navigation gmapping_demo.launch

出現下面的錯誤

[ INFO] [1511252619.048751272]: No matching device found.... waiting for devices. 
Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.2.9/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1511252622.049099861]: No matching device found.... waiting for devices. 
Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.2.9/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
 

裝置不匹配，發現一個裝置，但是無效的。

當時一看，怎麼呼叫到openni2上去了，對於v1裝置應該是openni就可以了，使用openni2反而會有相容性問題。

然後重新下載了庫檔案

sudo apt-get install --reinstall ros-indigo-openni-camera ros-indigo-openni-launch

才次執行命令，發現還是不行。然後就懷疑是不是應該解除安裝掉ros-indigo-openni2-*的東西，執行命令sudo apt-get remove ，發現連navigation，bringup等元件也會解除安裝掉。一下狠心，將這些組建都解除安裝掉了，然後重新安裝，發現安裝過程由於navigation，bringup等元件依賴ros-indigo-openni2-*，so，也將這個又安裝回去了，這下就無語了。這麼搞肯定是不對的。

再然後到網上找，發現命令

roslaunch openni_launch openni.launch
roslaunch freenect_launch freenect.launch

都可以執行成功，並且用rviz可以看到rgb圖和深度圖。那就是驅動沒有問題，會不會是gmapping中include了openni2而不是openni。一路跟蹤...

[email protected]:/opt/ros/indigo/share/turtlebot_bringup/launch$ grep -nsr openni ./*
./3dsensor_kinect.launch:4:  We use openni_camera here, turn everything on by default
./3dsensor.launch:4:  We use openni_camera here, turn everything on by default
./includes/3dsensor/asus_xtion_pro.launch.xml:23:  <include file="$(find openni2_launch)/launch/openni2.launch">
./includes/3dsensor/asus_xtion_pro_offset.launch.xml:23:  <include file="$(find openni2_launch)/launch/openni2.launch">
 

發現kinect是用的openni，而asus_xtion_pro使用的是openni2,怪不的元件間有依賴。

最後想到，是不是會是3d 攝像頭的環境變數沒有設定，導致自動識別asus_xtion_pro裝置，而不是kinect裝置。

檢視.bashrc,發現

#export TURTLEBOT_3D_SENSOR=kinect

果然被註釋掉了，取消註釋gmapping就跑成功了。

因為前段時間使用laser而故意把這裡註釋掉了，然後就忘記了....