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.