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Description

We currently use a Microsoft Kinect for a Xbox 360 in combination with OpenNI to use it inside the ROS ecosystem.

Pre requirement Installation

  1. Install OpenNI
$ sudo apt-get install ros-kinetic-openni-launch ros-kinetic-openni-camera ros-kinetic-openni-description
$ sudo apt-get install ros-kinetic-compressed-image-transport #Image compression plugin
  1. Start OpenNI server
$ roslaunch devine devine.launch launch_all:=false kinect:=true dashboard:=true
  1. View Data

You can use the dashboard (http://localhost:8080) or the image_view package:

$ rosrun image_view image_view image:=/openni/rgb/image_color #color
$ rosrun image_view image_view image:=/openni/rgb/image_mono #mono
$ rosrun image_view disparity_view image:=/openni/depth_registered/disparity #disparity
  1. Read the ROS OpenNI documentation for more info!

ROS Installation

  1. Run the install script ./install_package.bash
  2. Build the module using catkin_make:
$ roscd
$ cd ..
$ catkin_make