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.
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.
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.
The Azure Kinect ROS Driver uses colcon to build. For instructions on how to build the project please see the building guide.
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This project has adopted the Microsoft Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact [email protected] with any additional questions or comments.
Security issues and bugs should be reported privately, via email, to the Microsoft Security Response Center (MSRC) at <[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 key, can be found in the Security TechCenter.