$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 20.04.3 LTS
Release: 20.04
Codename: focal
The software required to explore the kinect xbox 360 in ROS must be compiled from sources.
First we need to build the libfreenect (no ros package) from sources, and only after that can build the freenect_stack (ros package) also from the sources.
We also need to install the ros package rgbd-launch with the following command
sudo apt-get install ros-noetic-rgbd-launch
build libfreenect
sudo apt-get update sudo apt-get upgrade sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev cd ~/src git clone git://github.com/OpenKinect/libfreenect.git cd libfreenect mkdir build cd build cmake -L .. make sudo make install sudo ldconfig /usr/local/lib64/
build freenect_stack
cd ~/catkin_ws/src git clone https://github.com/ros-drivers/freenect_stack.git cd .. catkin_make
run freenect node
roslaunch freenect_launch freenect.launch depth_registration:=true
Explore kinect published topics
rviz
The kinect xbox 360 output topics can be visualized on rviz with the following displays:
- Image
- Camera
- Pointcloud2
- DeepCloud
In the ‘Global Options’ set the ‘Fixed Frame’ to ‘camera_link’.
The last two displays have configurations to give colors to points, superimposition of outputs, etc.
Not all topics produce visible output.
Error building freenect_stack
-- Checking for module 'libfreenect' -- No package 'libfreenect' found CMake Error at /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:463 (message): A required package was not found
Solution: build libfreenect before
Error building freenect_stack
Resource not found: rgbd_launch ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/inaciose/catkin_ws/src ROS path [2]=/opt/ros/noetic/share The traceback for the exception was written to the log file
solution: sudo apt-get install ros-noetic-rgbd-launch
Reference