노트북에 expresscard to USB3.0도 안가져왔고. 일단 빌드는 했으니 다음에 가져와서 해봐야지
* 한거
| // libfreenect2 for kinect v2 $ sudo apt-get install libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev libva-dev libjpeg-dev libopenni2-dev $ git clone https://github.com/OpenKinect/libfreenect2.git $ cd libfreenect2/ $ mkdir build $ cd build/ $ cmake .. -DENABLE_CUDA=OFF $ sudo make install $ sudo ldconfig // install kinect2 bridge for ros2 $ sudo apt-get install python3-colcon-core python3-colcon-common-extensions python3-colcon-ros $ sudo apt install libeigen3-dev $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src $ git clone https://github.com/krepa098/kinect2_ros2.git $ cd .. $ source /opt/ros/humble/setup.bash $ sudo rosdep init $ rosdep update $ rosdep install --from-paths src --ignore-src -r -y $ colcon list kinect2_bridge src/kinect2_ros2/kinect2_bridge (ros.ament_cmake) kinect2_calibration src/kinect2_ros2/kinect2_calibration (ros.ament_cmake) kinect2_registration src/kinect2_ros2/kinect2_registration (ros.ament_cmake) $ colcon build --symlink-install Starting >>> kinect2_registration $ source install/setup.bash $ ros2 pkg list | grep kinect kinect2_bridge kinect2_calibration kinect2_registration $ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml // install rtabmap $ sudo apt install ros-humble-rtabmap-ros |
| $ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-41-52-174164-minimonk-HP-EliteBook-2760p-5964 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge_node-1]: process started with pid [5965] [INFO] [point_cloud_xyzrgb_node-2]: process started with pid [5967] [kinect2_bridge_node-1] [INFO] [1783770112.669497149] [kinect2_bridge_node]: parameter: [kinect2_bridge_node-1] base_name: kinect2 [kinect2_bridge_node-1] sensor: default [kinect2_bridge_node-1] fps_limit: 30 [kinect2_bridge_node-1] calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge_node-1] use_png: false [kinect2_bridge_node-1] jpeg_quality: 90 [kinect2_bridge_node-1] png_level: 1 [kinect2_bridge_node-1] depth_method: default [kinect2_bridge_node-1] depth_device: -1 [kinect2_bridge_node-1] reg_method: default [kinect2_bridge_node-1] reg_device: -1 [kinect2_bridge_node-1] max_depth: 12 [kinect2_bridge_node-1] min_depth: 0.1 [kinect2_bridge_node-1] queue_size: 5 [kinect2_bridge_node-1] bilateral_filter: true [kinect2_bridge_node-1] edge_aware_filter: true [kinect2_bridge_node-1] publish_tf: true [kinect2_bridge_node-1] base_name_tf: kinect2 [kinect2_bridge_node-1] worker_threads: 4 [kinect2_bridge_node-1] libva info: VA-API version 1.14.0 [kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14 [kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed [kinect2_bridge_node-1] libva info: va_openDriver() returns 1 [kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so [kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10 [kinect2_bridge_node-1] libva info: va_openDriver() returns 0 [kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported [kinect2_bridge_node-1] [INFO] [1783770112.809519223] [kinect2_bridge_node]: Kinect2 devices found: [kinect2_bridge_node-1] [INFO] [1783770112.809575855] [kinect2_bridge_node]: 0: 501441643042 (selected) [kinect2_bridge_node-1] [INFO] [1783770112.916667344] [kinect2_bridge_node]: starting kinect2 [kinect2_bridge_node-1] [INFO] [1783770113.292294443] [kinect2_bridge_node]: device serial: 501441643042 [kinect2_bridge_node-1] [INFO] [1783770113.292485519] [kinect2_bridge_node]: device firmware: 4.0.3911.0 [kinect2_bridge_node-1] [WARN] [1783770113.594443755] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1783770113.594539640] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1783770113.594581612] [kinect2_bridge_node]: using defaults for rotation and translation. [kinect2_bridge_node-1] [WARN] [1783770113.594619248] [kinect2_bridge_node]: using defaults for depth shift. [kinect2_bridge_node-1] [INFO] [1783770113.623323777] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1783770113.623425516] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1783770113.667011548] [kinect2_bridge_node]: waiting for clients to connect [kinect2_bridge_node-1] [INFO] [1783770114.653201749] [kinect2_bridge_node]: client connected. starting device... [kinect2_bridge_node-1] X Error of failed request: BadAccess (attempt to access private resource denied) [kinect2_bridge_node-1] Major opcode of failed request: 149 (GLX) [kinect2_bridge_node-1] Minor opcode of failed request: 5 (X_GLXMakeCurrent) [kinect2_bridge_node-1] Serial number of failed request: 179 [kinect2_bridge_node-1] Current serial number in output stream: 179 [kinect2_bridge_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [kinect2_bridge_node-1] what(): failed to publish message: cannot publish data, at ./src/rmw_publish.cpp:62, at ./src/rcl/publisher.c:250 [ERROR] [kinect2_bridge_node-1]: process has died [pid 5965, exit code -6, cmd '/home/minimonk/ros2_ws/install/kinect2_bridge/lib/kinect2_bridge/kinect2_bridge_node --ros-args -r __node:=kinect2_bridge_node --params-file /tmp/launch_params_1tuxpdc2 --params-file /tmp/launch_params_o70wj41n --params-file /tmp/launch_params_mx2wb0bm --params-file /tmp/launch_params_inj7yjrz --params-file /tmp/launch_params_s8nw_wo7 --params-file /tmp/launch_params_d5_82p0q --params-file /tmp/launch_params_x6_8qj8q --params-file /tmp/launch_params_ganv8ba7 --params-file /tmp/launch_params_agwupcu2 --params-file /tmp/launch_params_d1hxewmf --params-file /tmp/launch_params_7jj5knby --params-file /tmp/launch_params_rx6ige18 --params-file /tmp/launch_params_xyw011zg --params-file /tmp/launch_params_1uetu4cb']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [point_cloud_xyzrgb_node-2] [INFO] [1783770702.367083434] [rclcpp]: signal_handler(SIGINT/SIGTERM) [INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 5967] // default 를 cpu로 변경. i5-2520m / intel HD3000 이라 default cuda를 못해서 그런것 같음 $ vi ~/ros2_ws/src/kinect2_ros2/kinect2_bridge/launch/kinect2_bridge_launch.yaml 30 - name: "depth_method" 31 value: "cpu" $ ros2 launch kinect2_bridge kinect2_bridge_launch.yaml [INFO] [launch]: All log files can be found below /home/minimonk/.ros/log/2026-07-11-20-52-56-290912-minimonk-HP-EliteBook-2760p-6475 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [kinect2_bridge_node-1]: process started with pid [6476] [INFO] [point_cloud_xyzrgb_node-2]: process started with pid [6478] [kinect2_bridge_node-1] [INFO] [1783770776.613633301] [kinect2_bridge_node]: parameter: [kinect2_bridge_node-1] base_name: kinect2 [kinect2_bridge_node-1] sensor: default [kinect2_bridge_node-1] fps_limit: 30 [kinect2_bridge_node-1] calib_path: /home/minimonk/ros2_ws/src/kinect2_ros2/kinect2_bridge/data/ [kinect2_bridge_node-1] use_png: false [kinect2_bridge_node-1] jpeg_quality: 90 [kinect2_bridge_node-1] png_level: 1 [kinect2_bridge_node-1] depth_method: cpu [kinect2_bridge_node-1] depth_device: -1 [kinect2_bridge_node-1] reg_method: default [kinect2_bridge_node-1] reg_device: -1 [kinect2_bridge_node-1] max_depth: 12 [kinect2_bridge_node-1] min_depth: 0.1 [kinect2_bridge_node-1] queue_size: 5 [kinect2_bridge_node-1] bilateral_filter: true [kinect2_bridge_node-1] edge_aware_filter: true [kinect2_bridge_node-1] publish_tf: true [kinect2_bridge_node-1] base_name_tf: kinect2 [kinect2_bridge_node-1] worker_threads: 4 [kinect2_bridge_node-1] libva info: VA-API version 1.14.0 [kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so [kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_14 [kinect2_bridge_node-1] libva error: /usr/lib/x86_64-linux-gnu/dri/iHD_drv_video.so init failed [kinect2_bridge_node-1] libva info: va_openDriver() returns 1 [kinect2_bridge_node-1] libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so [kinect2_bridge_node-1] libva info: Found init function __vaDriverInit_1_10 [kinect2_bridge_node-1] libva info: va_openDriver() returns 0 [kinect2_bridge_node-1] [Error] [VaapiRgbPacketProcessorImpl] vaQueryConfigEntrypoints(display, VAProfileJPEGBaseline, entrypoints, &num_entrypoints): the requested VAProfile is not supported [kinect2_bridge_node-1] [INFO] [1783770776.630651736] [kinect2_bridge_node]: Kinect2 devices found: [kinect2_bridge_node-1] [INFO] [1783770776.630722791] [kinect2_bridge_node]: 0: 501441643042 (selected) [kinect2_bridge_node-1] [INFO] [1783770776.733462241] [kinect2_bridge_node]: starting kinect2 [kinect2_bridge_node-1] [INFO] [1783770777.156867396] [kinect2_bridge_node]: device serial: 501441643042 [kinect2_bridge_node-1] [INFO] [1783770777.156988330] [kinect2_bridge_node]: device firmware: 4.0.3911.0 [kinect2_bridge_node-1] [WARN] [1783770777.428281283] [kinect2_bridge_node]: using sensor defaults for color intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1783770777.428342033] [kinect2_bridge_node]: using sensor defaults for ir intrinsic parameters. [kinect2_bridge_node-1] [WARN] [1783770777.428357102] [kinect2_bridge_node]: using defaults for rotation and translation. [kinect2_bridge_node-1] [WARN] [1783770777.428370269] [kinect2_bridge_node]: using defaults for depth shift. [kinect2_bridge_node-1] [INFO] [1783770777.457480023] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1783770777.457549605] [kinect2_bridge_node]: Using CPU registration method! [kinect2_bridge_node-1] [INFO] [1783770777.508456495] [kinect2_bridge_node]: waiting for clients to connect [kinect2_bridge_node-1] [INFO] [1783770778.496139475] [kinect2_bridge_node]: client connected. starting device... [kinect2_bridge_node-1] [INFO] [1783770781.952362253] [kinect2_bridge_node]: depth processing: ~454.726ms (~2.19912Hz) publishing rate: ~2.99997Hz [kinect2_bridge_node-1] [INFO] [1783770781.952462142] [kinect2_bridge_node]: color processing: ~13.8091ms (~72.4159Hz) publishing rate: ~11.9999Hz [kinect2_bridge_node-1] [INFO] [1783770784.961367722] [kinect2_bridge_node]: depth processing: ~1429.33ms (~0.69963Hz) publishing rate: ~2.65869Hz [kinect2_bridge_node-1] [INFO] [1783770784.961457981] [kinect2_bridge_node]: color processing: ~18.3239ms (~54.5735Hz) publishing rate: ~2.65869Hz [kinect2_bridge_node-1] [INFO] [1783770787.965423923] [kinect2_bridge_node]: depth processing: ~1607.29ms (~0.622166Hz) publishing rate: ~2.33019Hz [kinect2_bridge_node-1] [INFO] [1783770787.965502488] [kinect2_bridge_node]: color processing: ~14.5605ms (~68.6788Hz) publishing rate: ~2.33019Hz [kinect2_bridge_node-1] [INFO] [1783770790.970785392] [kinect2_bridge_node]: depth processing: ~1747ms (~0.572411Hz) publishing rate: ~1.99643Hz [kinect2_bridge_node-1] [INFO] [1783770790.971731954] [kinect2_bridge_node]: color processing: ~17.1032ms (~58.4687Hz) publishing rate: ~1.99643Hz ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [point_cloud_xyzrgb_node-2] [INFO] [1783770792.809586338] [rclcpp]: signal_handler(SIGINT/SIGTERM) [kinect2_bridge_node-1] [INFO] [1783770792.811250097] [rclcpp]: signal_handler(SIGINT/SIGTERM) [INFO] [point_cloud_xyzrgb_node-2]: process has finished cleanly [pid 6478] [INFO] [kinect2_bridge_node-1]: process has finished cleanly [pid 6476] $ ros2 topic list /kinect2/qhd/camera_info /kinect2/qhd/image_color_rect /kinect2/qhd/image_depth_rect /kinect2/qhd/points /parameter_events /rosout $ ros2 topic list /kinect2/hd/camera_info /kinect2/hd/image_color /kinect2/hd/image_color/compressed /kinect2/hd/image_color_rect /kinect2/hd/image_color_rect/compressed /kinect2/hd/image_depth_rect /kinect2/hd/image_depth_rect/compressed /kinect2/hd/image_mono /kinect2/hd/image_mono/compressed /kinect2/hd/image_mono_rect /kinect2/hd/image_mono_rect/compressed /kinect2/qhd/camera_info /kinect2/qhd/image_color /kinect2/qhd/image_color/compressed /kinect2/qhd/image_color_rect /kinect2/qhd/image_color_rect/compressed /kinect2/qhd/image_depth_rect /kinect2/qhd/image_depth_rect/compressed /kinect2/qhd/image_mono /kinect2/qhd/image_mono/compressed /kinect2/qhd/image_mono_rect /kinect2/qhd/image_mono_rect/compressed /kinect2/qhd/points /kinect2/sd/camera_info /kinect2/sd/image_color_rect /kinect2/sd/image_color_rect/compressed /kinect2/sd/image_depth /kinect2/sd/image_depth/compressed /kinect2/sd/image_depth_rect /kinect2/sd/image_depth_rect/compressed /kinect2/sd/image_ir /kinect2/sd/image_ir/compressed /kinect2/sd/image_ir_rect /kinect2/sd/image_ir_rect/compressed /parameter_events /rosout /tf_static $ ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame [INFO] [1783772121.176615605] [tf2_echo]: Waiting for transform kinect2_link -> kinect2_rgb_optical_frame: Invalid frame ID "kinect2_link" passed to canTransform argument target_frame - frame does not exist At time 0.0 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion (xyzw) [0.000, 0.000, 0.000, 1.000] - Rotation: in RPY (radian) [0.000, -0.000, 0.000] - Rotation: in RPY (degree) [0.000, -0.000, 0.000] - Matrix: 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 |
| $ ros2 topic hz /kinect2/sd/image_depth WARNING: topic [/kinect2/sd/image_depth] does not appear to be published yet average rate: 1.358 min: 0.555s max: 1.017s std dev: 0.20108s window: 3 average rate: 1.535 min: 0.472s max: 1.017s std dev: 0.19011s window: 5 average rate: 1.630 min: 0.472s max: 1.017s std dev: 0.17155s window: 7 average rate: 1.681 min: 0.472s max: 1.017s std dev: 0.15538s window: 9 $ ros2 topic echo /kinect2/sd/image_depth header: stamp: sec: 1783772639 nanosec: 100324833 frame_id: kinect2_ir_optical_frame height: 424 width: 512 encoding: 16UC1 is_bigendian: 0 step: 1024 data: - 0 - 0 - 0 - 0 - 59 - 11 - 166 - 35 - 160 - 8 - 0 - 0 - 221 - 8 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 63 - 36 - 13 - 9 - 230 - 36 - 85 - 37 - 223 - 36 - 43 - 10 - 176 - 36 - 164 - 36 - 231 - 11 - 65 - 37 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 151 - 9 - 253 - 37 - 233 - 37 - 119 - 9 - 54 - 11 - 0 - 0 - 0 - 0 - 37 - 11 - 118 - 38 - 0 - 0 - 139 - 38 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 0 - 149 - 11 - 0 - 0 - 0 - 0 - 126 - 10 - 0 - 0 - 0 - 0 - 0 - 0 - 157 - 11 - 118 - 38 - 0 - 0 - 0 - 0 - 0 - 0 - 52 - 11 - 36 - 40 - 133 - 40 - 81 - 11 - 0 - 0 - 184 - 11 - 0 - 0 - 0 - 0 - 171 - 11 - '...' --- |
| $ ros2 topic echo /tf_static --once transforms: - header: stamp: sec: 1783772796 nanosec: 755398531 frame_id: kinect2_link child_frame_id: kinect2_rgb_optical_frame transform: translation: x: 0.0 y: 0.0 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 - header: stamp: sec: 1783772796 nanosec: 744797076 frame_id: kinect2_rgb_optical_frame child_frame_id: kinect2_ir_optical_frame transform: translation: x: 0.0 y: 0.0 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 --- |
| $ ros2 topic hz /kinect2/qhd/points average rate: 0.092 min: 10.424s max: 11.263s std dev: 0.41953s window: 2 average rate: 0.127 min: 1.987s max: 11.263s std dev: 4.18908s window: 3 average rate: 0.149 min: 1.987s max: 11.263s std dev: 4.16241s window: 4 average rate: 0.148 min: 1.987s max: 11.263s std dev: 3.72348s window: 5 |
display - Add
rviz+default_plugins 에서 추가
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그리고 topic 연결해주면 되는데
솔찍히 두번째 탭인 by topic이 더 편하게 고를수 있다.
* 할거
아래부턴 먼가 잘 안되서 일단 나중에..
| rviz2 ros2 run tf2_tools view_frames ros2 run tf2_ros tf2_echo kinect2_link kinect2_rgb_optical_frame ros2 launch rtabmap_launch rtabmap.launch.py \ rgb_topic:=/kinect2/color/image \ depth_topic:=/kinect2/depth/image \ camera_info_topic:=/kinect2/color/camera_info |
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