Kinect v2 URDF Model for ROS 2 🤖

This package provides a URDF model of the Kinect v2 sensor, perfect for integration in your Gazebo simulations or any ROS 2 application. 🌟

Features ✨

• 📦 Fully URDF-based Kinect v2 model for simulation in Gazebo
• ⚙️ Compatible with ROS 2 framework
• 🖼️ Works seamlessly with RViz for visualization
• 🌟 Includes camera and depth sensor simulation in Gazebo

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RViz

Gazebo

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Installation

Clone this repository into your ROS 2 workspace and build it with colcon:

cd ~/ros2_ws/src
git clone https://github.com/edupras/kinect_v2_ros2.git
cd ~/ros2_ws
colcon build

Usage

The repository contains three launch files (Rviz, Gazebo and both)

ros2 launch kinect_v2 kinect_v2.launch.py 

Contents

• urdf/: Contains the Kinect v2 URDF and XACRO files
• meshes: 3D model meshes (STL format) for the Kinect v2
• launch: Launch files for Gazebo and RViz

Contributions

We welcome contributions from the community! Feel free to:

• ⭐ Star this repository if you find it useful
• 🐞 Report any issues you encounter
• 🔧 Submit pull requests for enhancements or fixes

Acknowledgements

This package is based on the original Kinect v2 URDF model created for ROS1 by wangxian4423.