Setupguide

this is a setup guide for my own project.

Hope it can help in your projects as well

This repository will be mainly about setting up RGBD cameras, in Jetson nano and xavier.

Also, installing PCL Open3d will be updated in the ear future.

1. Install ROS melodic

2. Install Azure kinect sdk

https://github.com/microsoft/Azure-Kinect-Sensor-SDK

ARM64 for Nivida jetson nano

curl https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -

Insert password: of your nano

sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/multiarch/prod

sudo apt-get update


sudo apt-get install k4a-tools
sudo apt search k4a

check what file is missing not installed my case -dev file was not installed

sudo apt-get install libk4a1.4-dev

cd /etc/udev/rules.d/

sudo nano 99-k4a.rules

3. go to page with rules -- https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/scripts/99-k4a.rules

copy and paste all

4. run k4aviewer to check sdk installation

k4aviewer

5. Go to ROS driver website -- https://github.com/microsoft/Azure_Kinect_ROS_Driver

cd catkin_ws/src git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git cd ../ catkin_make --force-cmake

6. For jetson nano users this will not work due to opencv and cv_bridge issue. This is because the Jetpack installs opencv4 and does not create a opencv folder in the usr repository. Follow the below instructions the issue is described in this git --ros-perception/vision_opencv#329

7. Install opencv from source 3.x --https://ultrakid.tistory.com/10

sudo ln -s /usr/include/opencv4/ /usr/include/opencv
catkin_make --force-cmake

8. Check if the driver works(plug in Azure kinect)

roslaunch azure_kinect_ros_driver driver.launch
source devel/setup.bash