jrgnicho / kinect_ros2

C++ ROS2 driver for Kinect v1 (Xbox 360).

kinect_ros2

Interface

Overview

Basic Kinect-v1 (for the Xbox 360) node, with IPC support, based on libfreenect. For now, it only supports a single Kinect device. (If multiple devices present, the first one listed by the freenect_num_devices will be selected).

Published topics

• ~image_raw - RGB image(rgb8) (sensor_msgs/Image)
• ~camera_info - RGB camera_info (sensor_msgs/CameraInfo)
• ~depth/image_raw - Depth camera image(mono16) (sensor_msgs/Image)
• ~depth/camera_info - Depth camera_info (sensor_msgs/CameraInfo)

Instalation

1. Install libfreenect

The package was tested using a manual build from the libfreenect github because the Kinect used, had a firmware version that requires specific build flags.

2. Copy the repo

Copy the repo to your workspace source folder.

cd ~/ws/src
git clone https://github.com/fadlio/kinect_ros2

3. Install any missing ROS packages

Use rosdep from the top directory of your workspace to install any missing ROS related dependency.

cd ~/ws
rosdep install --from-paths src --ignore-src -r -y

4. Build your workspace

From the top directory of your workspace, use colcon to build your packages.

cd ~/ws
colcon build

Using this package

Devices tested

• Kinect Model 1473