A ROS sensor driver for the Azure Kinect Developer Kit.

Перейти к файлу

Pranav Dhulipala 73e88ef935 enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already		2022-04-18 15:58:54 -07:00
.github	Pin melodic CI to 18.04	2021-06-22 17:29:56 -07:00
cmake	enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already	2022-04-18 15:58:54 -07:00
docs	document the effect of different launch files and manual calibration	2021-08-05 11:49:14 +01:00
include/azure_kinect_ros_driver	added a callback method to project tf frame onto the image	2022-04-18 15:58:17 -07:00
launch	enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already	2022-04-18 15:58:54 -07:00
src	enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already	2022-04-18 15:58:54 -07:00
urdf	Add tf_prefix to all frames including links in urdf file (#46 )	2019-08-19 10:28:21 -07:00
.clang-format	Autoformat all code.	2019-10-25 15:28:24 +02:00
.gitignore	Switch k4a and k4abt CMake to Module Mode (#55 )	2019-08-21 12:15:03 -07:00
CMakeLists.txt	enabled the automatic download and setting of the kbt library on windows if the sdk is not installed already	2022-04-18 15:58:54 -07:00
CONTRIBUTING.md	Add line to contributing to talk about running clang-format.	2019-10-25 15:47:14 +02:00
LICENSE	Initial commit	2019-04-19 10:53:21 -07:00
README.md	Add body tracking data publishing (#50 )	2019-09-10 14:40:29 -07:00
azure-pipelines.yml	Revert "Migrate to 1.4, reduce frame size for rtab (#138 )"	2020-06-15 10:31:19 -07:00
nodelet_plugins.xml	Add a URDF model (#29 )	2019-07-03 12:41:00 -07:00
package.xml	added a callback method to project tf frame onto the image	2022-04-18 15:58:17 -07:00

README.md

Azure Kinect ROS Driver

This project is a node which publishes sensor data from the Azure Kinect Developer Kit to the Robot Operating System (ROS). Developers working with ROS can use this node to connect an Azure Kinect Developer Kit to an existing ROS installation.

This repository uses the Azure Kinect Sensor SDK to communicate with the Azure Kinect DK. It supports both Linux and Windows installations of ROS.

Features

This ROS node outputs a variety of sensor data, including:

A PointCloud2, optionally colored using the color camera
Raw color, depth and infrared Images, including CameraInfo messages containing calibration information
Rectified depth Images in the color camera resolution
Rectified color Images in the depth camera resolution
The IMU sensor stream
A TF2 model representing the extrinsic calibration of the camera

The camera is fully configurable using a variety of options which can be specified in ROS launch files or on the command line.

However, this node does not expose all the sensor data from the Azure Kinect Developer Kit hardware. It does not provide access to:

Microphone array

For more information about how to use the node, please see the usage guide.

Status

This code is provided as a starting point for using the Azure Kinect Developer Kit with ROS. Community developed features are welcome.

For information on how to contribute, please see our contributing guide.

Building

The Azure Kinect ROS Driver uses catkin to build. For instructions on how to build the project please see the building guide.

Join Our Developer Program

Complete your developer profile here to get connected with our Mixed Reality Developer Program. You will receive the latest on our developer tools, events, and early access offers.

Code of Conduct

This project has adopted the Microsoft Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact opencode@microsoft.com with any additional questions or comments.

Reporting Security Issues

Security issues and bugs should be reported privately, via email, to the Microsoft Security Response Center (MSRC) at <secure@microsoft.com>. You should receive a response within 24 hours. If for some reason you do not, please follow up via email to ensure we received your original message. Further information, including the MSRC PGP key, can be found in the Security TechCenter.

License

MIT License