[Install] Ubuntu 16.04 Azure Kinect driver

## Download the SDK from repository
$ cd ~/Desktop
$ git clone --recursive https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git
$ cd Azure-Kinect-Sensor-SDK
$ git checkout release/1.3.x

## Dependencies
$ sudo dpkg --add-architecture amd64
$ sudo apt update
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt-get update
$ sudo apt-get install gcc-4.9
$ sudo apt-get upgrade libstdc++6
$ sudo apt install -y pkg-config ninja-build doxygen clang gcc-multilib g++-multilib python3 nasm
$ sudo apt install -y libgl1-mesa-dev libsoundio-dev libvulkan-dev libx11-dev libxcursor-dev libxinerama-dev libxrandr-dev libusb-1.0-0-dev libssl-dev libudev-dev mesa-common-dev uuid-dev

$ cd ~/Downloads
$ wget https://cmake.org/files/v3.14/cmake-3.14.5.tar.gz
$ tar -xzvf cmake-3.14.5.tar.gz
$ cd cmake-3.14.5/
$ ./bootstrap
$ make -j4
$ sudo make install

## Build
$ cd ~/Desktop/Azure-Kinect-Sensor-SDK
$ mkdir build && cd build
$ cmake .. -GNinja
$ sudo ninja install

## Download depth engine library, 'libdepthengine.so.2.0'

1. just enter this in browser "https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.2/libk4a1.2_1.2.0_amd64.deb"
2. Right click the deb file and open with Archive Manager and go into data.tar.gz
3. find the libdepthengine.so.2.0 file in /./usr/lib/x86_64-linux-gnu/ Drag the file to /Azure-Kinect-Sensor-SDK/build/bin

## Setting udev-rule
$ cd ~/Desktop/Azure-Kinect-Sensor-SDK
$ sudo cp ./scripts/99-k4a.rules /etc/udev/rules.d/

## Launch
$ cd ~/Desktop/Azure-Kinect-Sensor-SDK
$ ./build/bin/k4aviewer
$ click 'open Device' and 'start'

############ After install Azure kinect at Desktop ############

$ cd catkin_ws/src
$ git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git

## You have to fix several code
$ cd ~/catkin_ws/src/Azure_Kinect_ROS_Driver/include/azure_kinect_ros_driver

# Open k4a_ros_device.h and replace

'std::atomic_int64_t last_capture_time_usec_;' of 'std::atomic<int64_t> last_capture_time_usec_;'
'std::atomic_uint64_t last_imu_time_usec_;' of 'std::atomic<uint64_t> last_imu_time_usec_;'
'std::atomic_bool imu_stream_end_of_file_;' of 'std::atomic<bool> imu_stream_end_of_file_;'
# Be aware that 'Azure_Kinect_SDK' is different folder from 'Azure_Kinect_ROS_Driver'
$ sudo cp [Azure_Kinect_SDK path]/build/bin/libdepthengine.so.2.0 ~/catkin_ws/devel/lib/
$ sudo cp /usr/lib32/libstdc++.so.6 ~/catkin_ws_devel/lib
+ libstdc++.so.6 위치가 좀 달라서 sudo find / -name libstdc++.so.6 으로 찾음.

$ cd ~/catkin_ws/src/Azure_Kinect_ROS_Driver
## replace line 57, ' target_compile_features(${PROJECT_NAME}_node PUBLIC cxx_std_11)' of
'set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") '
## replace line 66, ' target_compile_features(${PROJECT_NAME}_nodelet PUBLIC cxx_std_11)' of
'set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") '

$ cd ~/catkin_ws
$ catkin_make
$ rospack profile

## launch command
$ roslaunch azure_kinect_ros_driver driver.launch

 

 

 

참고

thomasweng.com/azure_kinect_1604_ros/

How to install ROS drivers for Azure Kinect on Ubuntu 16.04

tianyusong.com/2019/11/13/how-to-install-azure-kinect-sdk-on-ubuntu-16-04/

Install Azure Kinect SDK on Ubuntu 16.04