The repository contains modified Azure_Kinect_ROS_Driver and our own mcu_interface ROS packages for synchronized along with an Android Smartphone data gathering.

Sensors utilized:

Phone	Samsung S10E
Depth camera	Kinect Azure
MCU-platform	STM32F4DISCOVERY
IMU	MPU9150

Prerequisites

• OS version: Ubuntu 18.04

• ROS version: Melodic. Install Desktop-Full from here

• Before building the packages by catkin_make command the Azure camera Azure Kinect Sensor SDK from here must be installed.

• After cloning this repo do clone

  • serial
  • Azure_Kinect_ROS_Driver
  • dragandbot_common

• To be able to use serial interface by MCU package, run
  sudo usermod -a -G dialout $USER Then log out and log in.

Full roslaunch

The following command is used for launching all of the sensors:

roslaunch data_collection data_collection.launch

Azure Depth Camera

Our modification contains return to Azure Kinect DK internal timestamping procedure instead of ROS timestatmping that create low-precision and low-accurate time measurements.

MCU-IMU node

MCU-IMU node is receiving data from hardware platform via virtual serial port and publishing the following topics:
/imu - IMU measurements
/imu_temp - IMU measured temperature
/cameras_ts - platform local timestamps of triggered pulses for hardware visual and depth cameras synchronization

Serial

serial is a C++ library for seial interface with MCU (repo).

Smartphone

Samsung S10E is used for data gathering powered by our OpenCamera-Sensors app for time and frame synchronized image retrival.