From 49d963f2856b9e76bf55d06b62b2c6b40ec7b7dd Mon Sep 17 00:00:00 2001 From: Chandima Fernando Date: Tue, 10 Dec 2024 22:22:32 +0000 Subject: [PATCH] fix: fix azure kinect on meerkat --- docker/azure-kinect/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docker/azure-kinect/README.md b/docker/azure-kinect/README.md index 49734f9..069f892 100644 --- 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.