fix: fix azure kinect on meerkat

maffettone · Dec 10, 2024 · 49d963f · 49d963f
1 parent 1484004
commit 49d963f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/docker/azure-kinect/README.md b/docker/azure-kinect/README.md
@@ -5,12 +5,12 @@ podman build -t azure-kinect:latest .
 
 The following command runs a container with this image without opening up the container network to the host network.
 ```bash
-podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm azure-kinect:latest /bin/bash -c "Xvfb :1 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py" 
+podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :1 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py" 
 ```
 
 The following command runs a container with this image using the host network as the container network.
 ```bash
-podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --network host --ipc=host --pid=host azure-kinect:latest /bin/bash -c "Xvfb :2 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py depth_mode:=NFOV_UNBINNED  point_cloud_in_depth_frame:=false"
+podman run -it --volume="/dev/bus/usb:/dev/bus/usb" --rm --network host --ipc=host --pid=host --env ROS_DOMAIN_ID=10 --env DISPLAY=:2 azure-kinect:latest /bin/bash -c "Xvfb :2 -screen 0 2560x1440x16 & . /opt/ros/humble/setup.bash && . /root/ws/install/setup.sh && ros2 launch azure_kinect_ros_driver driver.launch.py depth_mode:=NFOV_UNBINNED  point_cloud_in_depth_frame:=false"
 ```
 
 In the above, `depth_mode:=NFOV_UNBINNED` sets a narrow field of view for increased distance in depth perception and `point_cloud_in_depth_frame = false` to render the pointcloud onto the RBG image.