Get the latest unstable version of OpenNI
The people tracker relies on a more current version of the OpenNI stack than is currently bundled with ROS.
You need to install it separately. This is the procedure:
1. Unplug your kinect
2. Check that you have the required libraries, and that they're up-to-date.
sudo apt-get install libusb-1.0-0-dev freeglut3-dev g++
If you have a Nvidia graphics card it's recommended to have the latest drivers here.
3. Create a folder for holding the download and the installation
cd ~ mkdir kinect
4. Download the OpenNI , NITE and AVIN2 unstable versions
From this page http://www.openni.org/Downloads/OpenNIModules.aspx, you need 2 files: Select OpenNI Binaries --> Unstable --> OpenNI Unstable build for Release X --> Download (Gets a file called openni-bin-dev-...) Select OpenNI Compliant Middleware Binaries --> Unstable --> PrimeSense NITE Unstable Build for Release X (Gets a file called nite-bin-...)
Click here to download the last version of the avin2 driver for the kinect. https://github.com/avin2/SensorKinect/zipball/unstable (Gets a file called avin2-SensorKinect ...)
Extract the files and rename the folders to openni, nite and sensorkin respectively.
5. Install OpenNI
cd ~/kinect/openni chmod a+x install.sh sudo ./install.sh
6. Install AVIN2
cd ~/kinect/sensorkin/Platform/Linux/CreateRedist/ chmod a+x RedistMaker sudo ./RedistMaker cd ../Redist/Sensor-Bin-Linux-x64-v22.214.171.124
NB the file Sensor-Bin-Linux-x64-v126.96.36.199 will be named differently depending on your release/platform. Continuing ...
sudo chmod a+x install.sh sudo ./install.sh
7. Install NITE
cd ~/kinect/nite/ chmod a+x install.sh sudo ./install.sh
8. Test it. Try running some of the examples in the openni/Samples folder. eg
cd ~/kinect/openni/Samples/Bin/x64-Release/ ./Sample-NiSimpleSkeleton
Liz Murphy and Peter Corke, STALKERBOT: Learning to Navigate Dynamic Human Environments by Following People, In Proceedings of the Australasian Conference on Robotics and Automation (ACRA) (To Appear), Wellington, NZ, December 2012 pdfBibTex
Report a Bug
NOTE: This package relies on the unstable version of the OpenNI toolkit. For details on how to install it see the ROS Answers post here.