安装环境：
ubuntu16.04
Ros kinetic

安装libfreenect2

1.下载libfreenect2，并转到libfreenect下

$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2

2.安装

sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev

sudo apt-get install libglfw3-devlibopenni2-dev

cd ..

mkdir build && cd build

cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2

make

make install

sudo cp../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

测试

$ ./bin/Protonect

iai_kinect2安裝

1.下载iai_kinect2包

$ cd ~/catkin_ws/src/
$ git clone https://github.com/code-iai/iai_kinect2.git

2.安装iai_kinect2依赖

$ cd iai_kinect2
$ rosdep install -r --from-paths . 

3.编译

$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE="Release"

4.测试运行

 $ roslaunch kinect2_bridge kinect2_bridge.launch

新开一个新的終端，观察接收到的图像：

 $ rosrun kinect2_viewer kinect2_viewer