首先安装usb库
$ git clone https://github.com/libusb/libusb.git
编译libusb需要的工具
$ sudo apt-get install autoconf autogen
$ sudo apt-get install libtool
$ sudo apt-get install libudev*
编译安装
$ sudo ./autogen.sh
$ sudo make
$ sudo make install
$ sudo ldconfig
更新软件库
$ sudo apt-add-repository universe
$ sudo apt-get update
安装kinect驱动
安装编译libfreenect需要的库
$ sudo apt-fast install cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev
下载源码
$ git clone git://github.com/OpenKinect/libfreenect.git
安装编译
$ cd libfreenect
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
因为TK1USB的供电方式插上kinect会不能发现所以添加开机自启修改
$ sudo gedit /etc/rc.local# Disable USB auto-suspend, since it disconnects some devices such as webcams on Jetson TK1.
echo -1 > /sys/module/usbcore/parameters/autosuspend
$ sudo reboot
开机后重新拔插kinect usb
修改usb权限文件
51-kinect.rules在libfreenect/platform/linux/udev/51-kinect.rules目录下
$ sudo cp 51-kinect.rules /etc/udev/rules.d/51-kinect.rules
安装ros openni功能包
$ sudo apt-get install ros-indigo-openni*
远程运行
$ roslaunch openni_launch openni.launch
