Using Kinect XBOX 1473 with ROS
Posted on Oct 10, 2020
This post guides how to install Kinect Xbox 1473 sensor in Linux Ubuntu 18.04.
What is the Kinect XBOX 1473 sensor
Install Kinect in ROS
We should install library and packages with openni
$ sudo apt-get install ros-melodic-openni-camera ros-melodic-openni-launch
$ rosstack profile && rospack profile
You can see the list of directories
0.083792 /opt/ros/melodic/share
0.009981 /home/tamlam/catkin_ws/src
0.007983 /home/tamlam/mybot_ws/src
0.006549 /home/tamlam/mybot_ws/src/geometry2
0.006091 /home/tamlam/catkin_ws/src/hector_slam
0.001408 /home/tamlam/rgbdslam_catkin_ws/src
0.000619 /home/tamlam/catkin_ws/src/ros_best_practices
0.000210 * /opt/ros/melodic/share/doc
0.000011 * /opt/ros/melodic/share/doc/liborocos-kdl
Then run the below commands to launch the library
$ rosrun openni_camera openni_node
$ roslaunch openni_launch openni.launch
We can check the topics by
$ rostopic list
/camera/depth/image
/camera/rgb/image_color
...
To display depth/color image
$ rosrun image_view image_view image:=/camera/depth/image
$ rosrun image_view image_view image:=/camera/rgb/image_color