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https://github.com/microsoft/azure_kinect_ros_driver

A ROS sensor driver for the Azure Kinect Developer Kit.
https://github.com/microsoft/azure_kinect_ros_driver

azure kinect ros

Last synced: 27 days ago
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A ROS sensor driver for the Azure Kinect Developer Kit.

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README 

        
# Azure Kinect ROS Driver

> NOTE: The [Azure Kinect DK](https://techcommunity.microsoft.com/t5/mixed-reality-blog/microsoft-s-azure-kinect-developer-kit-technology-transfers-to/ba-p/3899122)

has been retired and no longer available. The Azure Kinect DK SDK and ROS Node are no longer maintained.



This project is a node which publishes sensor data from the [Azure Kinect Developer Kit](https://azure.microsoft.com/en-us/services/kinect-dk/) to the [Robot Operating System (ROS)](http://www.ros.org/). 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](https://github.com/microsoft/Azure-Kinect-Sensor-SDK) to communicate with the Azure Kinect DK. It supports both Linux and Windows installations of ROS.



[![Build Status](https://dev.azure.com/ms/Azure_Kinect_ROS_Driver/_apis/build/status/microsoft.Azure_Kinect_ROS_Driver?branchName=melodic)](https://dev.azure.com/ms/Azure_Kinect_ROS_Driver/_build/latest?definitionId=166&branchName=melodic)



## 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](docs/usage.md).



## 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](CONTRIBUTING.md).



## Building



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

[building guide](docs/building.md).



## Join Our Developer Program



Complete your developer profile [here](https://aka.ms/iwantmr) 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](https://opensource.microsoft.com/codeofconduct/).

For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or

contact [[email protected]](mailto:[email protected]) 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 <[[email protected]](mailto:[email protected])>.

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](https://technet.microsoft.com/en-us/security/dn606155) key, can be found in the

[Security TechCenter](https://technet.microsoft.com/en-us/security/default).



## License



[MIT License](LICENSE)