Tutorial: Kinect for XBox One camera

Installation

Install these packages to use the Kinect for XBox One camera.

lifreenect2

Clone this repository (anywhere but NOT inside your catkin_ws/src) and follow the instructions in README. You can skip all the optional installations: https://github.com/OpenKinect/libfreenect2

To check your installation, go to libfreenect2/build/ and try

./bin/Protonect

It should show 4 video channels (Infrared, RGB, Depth and Point Cloud). If you need sudo permission to run the above, make sure you set up udev rules for device access: sudo cp ./platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/, then replug the Kinect.

iai_kinect2

This is a collection of tools and libraries for a ROS Interface to the Kinect One (Kinect v2). It contains:

• a calibration tool for calibrating the IR sensor of the Kinect One to the RGB sensor and the depth measurements
• a library for depth registration with OpenCL support
• the bridge between libfreenect2 and ROS
• a viewer for the images/point clouds

https://github.com/olinrobotics/iai_kinect2

Clone this repository into your catkin workspace, install the dependencies and build it:

cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"

Running the program

After installing these packages, run

roslaunch kinect2_bridge kinect2_bridge.launch

If the roslaunch throws errors, it'd probably have some issues with your graphic card driver. First, search for Software Update application and update your Ubuntu. Next, go to Setting > Software Sources and click on Additional Drivers tab. Wait until it loads all the drivers, and then choose the NVIDIA driver option. Click Apply and then restart your laptop. Finally, re-run roslaunch kinect2_bridge kinect2_bridge.launch.

Learn more about perception using a camera in HIRo Perception.