Azure Kinect DK install

ToF방식의 RGB-D 카메라인 Azure Kinect DK ROS설치 과정 정리

• 경로 추가

  curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
  sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
  sudo apt-get update
  

• 설치하기

  sudo apt-get install k4a-tools
  sudo apt search k4a
  sudo apt-get install libk4a1.4-dev
  

• Linux device setup

  cd /etc/udev/rules.d
  gedit 99-k4a.rules
  

99-k4a.rules파일에 다음 경로의 텍스트를 복사하여 붙여넣기 https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/scripts/99-k4a.rules

이때 k4aviewer하면 카메라가 보여야 함

• ROS driver 설치 및 실행

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/melodic
catkin build
source devel/setup.zsh

roslaunch azure_kinect_ros_driver driver.launch
또는
roslaunch azure_kinect_ros_driver kinect_rgbd.launch

• 참조 문서: https://github.com/microsoft/Azure_Kinect_ROS_Driver/blob/melodic/docs/building.md