krepa098 / kinect2_ros2

Tools for using the Kinect One (Kinect v2) in ROS2 (tested on ROS2 Humble)

Kinect2 ROS2

This package enables the usage of the Microsoft Kinect2 ('Kinect One') with ROS2 Humble.

This is a fork of of the iai_kinect2 for OpenCV 4 package, a fork of the original iai_kinect2.

What works?

The kinect2_bridge, kinect2_registration and kinect2_calibration should be functional, although with a reduced feature set (e.g., no CUDA/OpenCL support). The kinect2_viewer has been dropped completely.

Prerequisites

Install libfreenect

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2 && mkdir build && cd build
cmake .. -DENABLE_CXX11=ON -DBUILD_OPENNI2_DRIVER=OFF -DENABLE_OPENCL=OFF -DENABLE_CUDA=OFF -DENABLE_OPENGL=OFF -DENABLE_VAAPI=OFF -DENABLE_TEGRAJPEG=OFF -DCMAKE_INSTALL_PREFIX=/usr
sudo make install

Install

Clone this report into your src and build.

git clone https://github.com/krepa098/kinect2_ros2.git

Run

Launch the kinect2_bridge to receive color, depth, and mono images as well as the pointcloud.

ros2 launch kinect2_bridge kinect2_bridge_launch.yaml

You can also launch rtabmap to create 3D scans:

ros2 launch kinect2_bridge rtabmap.launch.py

Calibrate

Use the calibration utility

ros2 run kinect2_calibration kinect2_calibration_node <args>

See also kinect2_calibration.