# kinect2_ros2

**Repository Path**: s-robot/kinect2_ros2

## Basic Information

- **Project Name**: kinect2_ros2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-11-10
- **Last Updated**: 2025-11-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IAI Kinect2 for ROS2

Migration from ROS1.
Original Repository: https://github.com/code-iai/iai_kinect2.
this work is based on OpenCV4 version: https://github.com/paul-shuvo/iai_kinect2_opencv4.


## Install:

1. Install the ROS2 humble.
2. Install [libfreenect2](https://github.com/OpenKinect/libfreenect2).
3. clone this repo to your workspace and build it
```bash
    cd ~/catkin_ws/src/
    git clone https://github.com/YuLiHN/kinect2_ros2
    cd kinect2_ros2
    rosdep install -r --from-paths .
    cd ~/catkin_ws
    colcon build
```

Note: if you have runtime error like this:
```
[kinect2_bridge-1] error while loading shared libraries: libfreenect2.so.0.2: cannot open shared object file: No such file or directory
```
you could establish a symbolic link in usr lib folder like:
```
sudo ln -s $PATH_TO_LIBFREENECT2/freenect2/lib/libfreenect2.so.0.2 /usr/lib/libfreenect2.so.0.2
```

## Usage:
```
ros2 launch kinect2_bridge kinect2_bridge.launch.py
```
and visualize the results in rviz2
```
ros2 run rviz2 rviz2
```

## Screenshots:
Tested on RTX 3060 mobile, Ubuntu 22.04 LTS, ROS2 Humble.
Here are some screenshots from the toolkit:
![rviz2](imgs/rviz2.png)
![console](imgs/console.png)



## Fork and Pull:
This repo only contains kinect2_registration and kinect2_bridge, still have two packages to be completed.