Thanks to @MicaelKorn I could get the RGBDSLAM work on the Kinect v2. Just to summarize:

Steps to run RGBDSLAM with a Kinect One (Kinect v2)

1. Install RGBDSLAM v2 indigo on ROS indigo https://github.com/felixendres/rgbdsl...
2. Install libfreenect2 and iai_kinect2 https://github.com/OpenKinect/libfree... and https://github.com/code-iai/iai_kinect2
3. Create a file named rgbdslam_kinect2.launch with contents like below.
4. Run roslaunch rgbdslam rgbdslam_kinect2.launch and rosrun kinect2_bridge kinect2_bridge.launch from different Terminal windows

Now the RGBDSLAM GUI should appear and does its work.

rgbdslam_kinect2.launch: <launch> <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen">

<param name="config/topic_image_depth"             value="/kinect2/qhd/image_depth_rect"/>

<param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

<!-- These are the default values of some important parameters -->
<param name="config/feature_extractor_type"        value="SIFTGPU"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. -->
<param name="config/feature_detector_type"         value="SIFTGPU"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/detector_grid_resolution"      value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) -->

<param name="config/optimizer_skip_step"           value="15"/><!-- optimize only every n-th frame -->
<param name="config/cloud_creation_skip_step"      value="2"/><!-- subsample the images' pixels (in both, width and height), when creating the cloud (and therefore reduce memory consumption) -->

<param name="config/backend_solver"                value="csparse"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline optimization (without good initial guess)-->

<param name="config/pose_relative_to"              value="first"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the current one. Use "first" to optimize the full graph, "inaffected" to optimize only the frames that were matched (not those inbetween for loops) -->

<param name="config/maximum_depth"           value="2"/>
<param name="config/subscriber_queue_size"         value="20"/>

<param name="config/min_sampled_candidates"        value="30"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
<param name="config/predecessor_candidates"        value="20"/><!-- Frame-to-frame comparisons to sequential frames-->
<param name="config/neighbor_candidates"           value="20"/><!-- Frame-to-frame comparisons to graph neighbor frames-->
<param name="config/ransac_iterations"             value="140"/>

<param name="config/g2o_transformation_refinement"           value="1"/>
<param name="config/icp_method"           value="gicp"/>  <!-- icp, gicp ... -->

<!--
<param name="config/max_rotation_degree"           value="20"/>
<param name="config/max_translation_meter"           value="0.5"/>

<param name="config/min_matches"           value="30"/>   

<param name="config/min_translation_meter"           value="0.05"/>
<param name="config/min_rotation_degree"           value="3"/>
<param name="config/g2o_transformation_refinement"           value="2"/>
<param name="config/min_rotation_degree"           value="10"/>

<param name="config/matcher_type"         value="SIFTGPU"/>
 -->
</node>
</launch>

Worked like a charm! Thank you very much.

Thank you a lot for the quick response!!! From the heap of error output I posted.

I re-installed Ubuntu and ran it on ROS indigo, and it did run correctly. I also found that I forgot to install Gazebo. Now it goes to another error, can you please take a look: http://answers.ros.org/question/234659

I'm trying to run RGBDSLAM v2 with Kinect v2.

After sucessfully building, roslaunch rgbdslam openni+rgbdslam.launch resulted in the program running correctly, but there are no images coming from the Kinect v2. On the error output, it says:

process[rgbdslam-26]: started with pid [7843]
Initializing Node...
[ INFO] [1463623928.121529730]: Connected to roscore
[ INFO] [1463623928.405880762]: Using ORB keypoint detector.
[ INFO] [1463623928.405991250]: Using gridded keypoint detector with 3x3 cells, keeping 900 keypoints in total.
[ INFO] [1463623928.406055834]: Using adjusted keypoint detector with 5 maximum iterations, keeping the number of keypoints between 67 and 100
[ INFO] [1463623928.444573891]: Listening to /camera/rgb/image_color and /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1463623931.311227274]: No devices connected.... waiting for devices to be connected

The last line repeated as the program stays running.

Seems like although test programs that come with Kinect drivers have recognized the Kinect v2 correctly, the program RGBDSLAM hasn't yet.

Protonect or NiViewer2 run OK and output RGB images and depth images, although it's left-right mirrored, and NiViewer2's output screen's lower half is black. However NiViewer doesn't recognize Kinect and outputs:

~$ NiViewer
One or more of the following nodes could not be enumerated:

Device: PrimeSense/SensorKinect/5.1.2.1: The device is not connected!
Device: PrimeSense/SensorV2/5.1.6.6: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!
Device: PrimeSense/SensorKinect/5.1.2.1: The device is not connected!
Device: PrimeSense/SensorV2/5.1.6.6: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!
Device: PrimeSense/SensorKinect/5.1.2.1: The device is not connected!
Device: PrimeSense/SensorV2/5.1.6.6: The device is not connected!
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

Press any key to continue . . .

lsusb outputs 3 Microsoft Corp. at the 3 USB ports corresponding to the USB slot Kinect v2 is plugged in.

I have tested with the patch avin2 ( https://github.com/avin2/SensorKinect ) but that didn't make RGBDSLAM v2 recognize the Kinect v2 (maybe that caused multiple identical lines in the NiViewer output above).

I want to ask how I can solve or can get to know mor about this error? Why is NiViewer2 and Protonect uses the Kinect v2 correctly but RGBDSLAM doesn't?

Maybe you should run ROS indigo with gazebo2.

They say ROS indigo works best with gazebo2, which is difficult to install because of dependency. It requires libsdformat-dev (and therefore libsdformat1) that has version >=1.4.11-1 but <2.0.0 which is almost unable to satisfy. However I found those versions of those dependencies that perfectly matches and allow you to install gazebo2.

https://launchpad.net/ubuntu/trusty/a...

https://launchpad.net/ubuntu/trusty/a...

However remember to remove the existing updated versions of those libraries before installing packages above:

sudo apt-get remove libsdformat-dev
sudo apt-get remove libsdformat1

Otherwise Ubuntu Software Center would tell you about dependency problems and won't allow you to install.

After installing the 2 libs above you can now install gazebo2 which is supposed to work best with ROS indigo.

sudo apt-get install gazebo2
sudo apt-get install ros-indigo-desktop-full

after sucessfully building RGBDSLAM_v2 indigo, i tried to launch with roslaunch rgbdslam openni+rgbdslam.launch. But it failed with error output:

================================================================================REQUIRED process [rgbdslam-26] has died!
process has died [pid 4218, exit code -11, cmd /home/khoa/rgbdslam_indigo_catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/khoa/.ros/log/659caba0-1bcc-11e6-aa49-e840f2a81ea6/rgbdslam-26.log].
log file: /home/khoa/.ros/log/659caba0-1bcc-11e6-aa49-e840f2a81ea6/rgbdslam-26*.log
Initiating shutdown!
================================================================================
[rgbdslam-26] killing on exit
[camera_base_link3-25] killing on exit

Somehow the process is found dead right after being successfully started. The exit code is -11. Log file rgbdslam-26*never existed. I looked for answer to similar questions on the interwebz but no luck. I just built the package with catkin_make, so it has never been successfully run before.

Relevant info in the log file roslaunch-*.log:

[roslaunch][INFO] 2016-05-17 10:12:18,640: ... successfully launched [camera_base_link3-25]
[roslaunch][INFO] 2016-05-17 10:12:18,640: ... preparing to launch node of type [rgbdslam/rgbdslam]
[roslaunch][INFO] 2016-05-17 10:12:18,640: create_node_process: package[rgbdslam] type[rgbdslam] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://localhost:11311]
[roslaunch][INFO] 2016-05-17 10:12:18,640: process[rgbdslam-26]: env[{'LC_NUMERIC': 'ja_JP.UTF-8', 'WINDOWID': '79691788', 'QT_QPA_PLATFORMTHEME': 'appmenu-qt5', 'ROS_DISTRO': 'jade', [too long, I truncated], 'XDG_SEAT': 'seat0'}]
[roslaunch][INFO] 2016-05-17 10:12:18,653: process[rgbdslam-26]: args[[u'/home/khoa/rgbdslam_indigo_catkin_ws/devel/lib/rgbdslam/rgbdslam', u'__name:=rgbdslam']]
[roslaunch][INFO] 2016-05-17 10:12:18,653: ... created process [rgbdslam-26]
[roslaunch.pmon][INFO] 2016-05-17 10:12:18,654: ProcessMonitor.register[rgbdslam-26]
[roslaunch.pmon][INFO] 2016-05-17 10:12:18,654: ProcessMonitor.register[rgbdslam-26] complete
[roslaunch][INFO] 2016-05-17 10:12:18,654: ... registered process [rgbdslam-26]
[roslaunch][INFO] 2016-05-17 10:12:18,654: process[rgbdslam-26]: starting os process
[roslaunch][INFO] 2016-05-17 10:12:18,654: process[rgbdslam-26]: start w/ args [[u'/home/khoa/rgbdslam_indigo_catkin_ws/devel/lib/rgbdslam/rgbdslam', u'__name:=rgbdslam', u'__log:=/home/khoa/.ros/log/659caba0-1bcc-11e6-aa49-e840f2a81ea6/rgbdslam-26.log']]
[roslaunch][INFO] 2016-05-17 10:12:18,655: process[rgbdslam-26]: cwd will be [/home/khoa/rgbdslam_indigo_catkin_ws/devel/lib/rgbdslam]
[roslaunch][INFO] 2016-05-17 10:12:18,762: process[rgbdslam-26]: started with pid [4218]
[roslaunch][INFO] 2016-05-17 10:12:18,762: ... successfully launched [rgbdslam-26]
[roslaunch][INFO] 2016-05-17 10:12:18,762: ... launch_nodes complete
[roslaunch.pmon][INFO] 2016-05-17 10:12:18,762: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 140574065043200)>
[roslaunch.parent][INFO] 2016-05-17 10:12:18,762: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2016-05-17 10:12:18,763: spin
[roslaunch][ERROR] 2016-05-17 10:12:22,033: ================================================================================REQUIRED process [rgbdslam-26] has died!
process has died [pid 4218, exit code -11, cmd /home/khoa/rgbdslam_indigo_catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/khoa/.ros/log/659caba0-1bcc-11e6-aa49-e840f2a81ea6/rgbdslam-26.log].
log file: /home/khoa/.ros/log/659caba0-1bcc-11e6-aa49-e840f2a81ea6/rgbdslam-26*.log
Initiating shutdown!
================================================================================

Exit code -11 seems to be segmentation fault. But I can't know any further on how why and where the error occurred. Does anyone know why? Please help...

Had the same problem, and no, re-compiling PCL with C++11 and catkin_make again with new PCL didn't solve it.

Worked for me, thanks a lot! Just one thing, you forgot one closing bracket and that might generate weird error messages

I am having the same problem. Installing Qt Creator to the latest version didn't solve the problem

Having the same problem. Someone please help!!

Open "rgbdslam_freiburg/rgbdslam/manifest.xml", look for the line

<depend package="pcl"/>

and replace into

 <depend package="pcl_conversions"/>

The interwebz said that this is due to a fact that pcl used to be a ros package but then went independent (viva la independence) and requirement to it becomes wrong. Solved the problem for me though

P.$. after doing this you may still have problem for missing dependency for octomap or libg2o etc. but don't panic, just manually install accordingly and you'll get pass the step.