From 97a24290edec2e205077d60b9a9751b758d0711d Mon Sep 17 00:00:00 2001 From: Arthur K Zhang Date: Wed, 7 Sep 2022 17:26:08 -0500 Subject: [PATCH 1/4] updated readme with submodule update prereq --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index b27e079..c571771 100644 --- a/README.md +++ b/README.md @@ -10,8 +10,8 @@ Azure Kinect ROS drivers ``` sudo apt install liblua5.1-0-dev libgflags-dev libgoogle-glog-dev libgoogle-perftools-dev cimg-dev ``` -1. [ROS](https://wiki.ros.org/Installation/) -1. [Microsoft Kinect For Azure SDK](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download) +2. [ROS](https://wiki.ros.org/Installation/) +3. [Microsoft Kinect For Azure SDK](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download) If installing on \*buntu 18.04, you can follow the instructions as is. If installing on \*buntu 20.04, you will need to manually add the repo for 18.04 instead as follows in `/etc/apt/sources.list`: ``` @@ -25,7 +25,8 @@ Azure Kinect ROS drivers ``` sudo apt install libk4a1.4-dev k4a-tools ``` -1. Add the file [99-k4a.rules](99-k4a.rules) to `/etc/udev/rules.d` to allow access to the kinect device, and reboot to apply the changes. +4. Add the file [99-k4a.rules](99-k4a.rules) to `/etc/udev/rules.d` to allow access to the kinect device, and reboot to apply the changes. +5. Be sure to pull in changes for the git submodules before making. If it's your first time pulling changes in this repo run `git submodule update --init --recursive` first. After doing this, run `git submodule update --recursive --remote`. ## Compile From cd0a86619afc6560f4d3068bf4ea38397ba1e61e Mon Sep 17 00:00:00 2001 From: Arthur K Zhang Date: Thu, 8 Sep 2022 10:52:20 -0500 Subject: [PATCH 2/4] Updated azure kinect with audio setup tutorial and libusb fix --- README.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/README.md b/README.md index c571771..aa7a22a 100644 --- a/README.md +++ b/README.md @@ -27,12 +27,14 @@ Azure Kinect ROS drivers ``` 4. Add the file [99-k4a.rules](99-k4a.rules) to `/etc/udev/rules.d` to allow access to the kinect device, and reboot to apply the changes. 5. Be sure to pull in changes for the git submodules before making. If it's your first time pulling changes in this repo run `git submodule update --init --recursive` first. After doing this, run `git submodule update --recursive --remote`. +6. (Optional) To use microphone array, install the [audio_common](https://wiki.ros.org/audio_common/Tutorials/Streaming%20audio) ros package according to the tutorial. At this point, you can go to audio system settings and verify the Azure Kinect microphone is connected. ## Compile Run `make [-j]` ## Usage +The streamed topics will be available on the Fixed Frame `kinect` on rviz by default. To stream just converted laserscan data : ``` @@ -54,6 +56,9 @@ To save registered color and RGB images to disk (e.g. to the directory `out`): ./bin/save_rgbd_images --save_dir out ``` +## libusb errors +If you encounter an issue with the libusb driver, it may be due to the data bus limit on the usb port not being set to a high enough value. If this is the case, open the grub file (/etc/default/grub) and replace the line `GRUB_CMDLINE_LINUX_DEFAULT=quiet splash` with `GRUB_CMDLINE_LINUX_DEFAULT=quiet splash usbcore.usbfs_memory_mb=2000`. Then, run `sudo update-grub` and reboot the system after updating grub. + ## XServer errors This package needs access to an OpenGL display for the k4a drivers. If running in a headless mode, you might have to recreate the `~/.Xauthority` file to gain access to the server, in addition to setting the `DISPLAY` environment variable (e.g. `export DISPLAY=:0`). To re-create the `~/.Xauthority` file, see: From d061242b8594f3e3943c6c758d53d79d401a67ed Mon Sep 17 00:00:00 2001 From: Arthur K Zhang Date: Thu, 22 Sep 2022 18:22:44 -0500 Subject: [PATCH 3/4] Updated README for Point Cloud Streaming --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index aa7a22a..7c7bdf8 100644 --- a/README.md +++ b/README.md @@ -43,7 +43,7 @@ To stream just converted laserscan data : To stream converted laserscan data and a 3D point cloud: ``` -./bin/depth_to_lidar +./bin/depth_to_lidar --points=true ``` To stream an RGB point cloud as `sensor_msgs/PointCloud2`: From ae7763c318b9714b81bfadc69b316709b13f4561 Mon Sep 17 00:00:00 2001 From: Dongmyeong Lee Date: Wed, 4 Oct 2023 21:16:21 -0500 Subject: [PATCH 4/4] update dependency --- README.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 7c7bdf8..ae5f040 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ Azure Kinect ROS drivers ``` sudo apt install liblua5.1-0-dev libgflags-dev libgoogle-glog-dev libgoogle-perftools-dev cimg-dev ``` -2. [ROS](https://wiki.ros.org/Installation/) +2. [ROS](https://wiki.ros.org/Installation/), [AMRL ROS Messages](https://github.com/ut-amrl/amrl_msgs) 3. [Microsoft Kinect For Azure SDK](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download) If installing on \*buntu 18.04, you can follow the instructions as is. If installing on \*buntu 20.04, you will need to manually add the repo for 18.04 instead as follows in `/etc/apt/sources.list`: @@ -30,8 +30,12 @@ Azure Kinect ROS drivers 6. (Optional) To use microphone array, install the [audio_common](https://wiki.ros.org/audio_common/Tutorials/Streaming%20audio) ros package according to the tutorial. At this point, you can go to audio system settings and verify the Azure Kinect microphone is connected. ## Compile +1. Add it to your `ROS_PACKAGE_PATH` environment variable: + ``` + export ROS_PACKAGE_PATH=`pwd`:$ROS_PACKAGE_PATH + ``` -Run `make [-j]` +2. Run `make [-j]` ## Usage The streamed topics will be available on the Fixed Frame `kinect` on rviz by default.