如文章（https://blog.****.net/qq_40214643/article/details/102570452）

1.安装ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

apt-cache search ros-kinetic

sudo rosdep init
rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt-get install python-rosinstall

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc

source devel/setup.bash

遇到问题：sudo: source:command not found，使用了root权限以顺利运行。

2.安装kinect-v2驱动并测试

cd ~/ThirdParty
git clone https://github.com/OpenKinect/libfreenect2.git  
cd libfreenect2

sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev libopenni2-dev

mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/  
make
sudo make install

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

sudo apt-get install openni2-utils
sudo make install-openni2