Requesting Binaries for 20.04

[nicolas-schreiber]

Hi,

I am trying to install this SDK on Ubuntu 20.04, but there are not binaries installable through the Repository yet. Building works, but to run it I need the Depth Engine...

[qm13]

Please up vote the UserVoice entry https://feedback.azure.com/admin/v3/ideas/40368301/

[krasin]

Just for the record, I tried to vote by the link (thx for providing it!) but it failed with an uncomprehensible error when I tried to log in with my Microsoft account:

AADSTS50020: User account '[email protected]' from identity provider 'live.com' does not exist
in tenant 'UserVoice, Inc.' and cannot access the application 
'91a42e81-999b-4cf1-aa36-bb33f25ff53b'(windowsazure.uservoice.com) in that tenant. 
The account needs to be added as an external user in the tenant first. 
Sign out and sign in again with a different Azure Active Directory user account.

[virtusense-trisha]

I went to the issue for 1.4.1 and downloaded the .deb packages for 18.04 and installed them with sudo dpkg -i and that seemed to work.

I know they don't officially support 20.04 but they also don't give any explanation of what changed between 18.04 and 20.04 that would make a difference, so I figure it's fine, right?

[wes-b]

I know they don't officially support 20.04 but they also don't give any explanation of what changed between 18.04 and 20.04 that would make a difference, so I figure it's fine, right?

There is no expected difference, we don't have automation to test on 20.04 ATM. So we don't release packages we can't test.

[mpdroid]

These are the steps I followed to install k4a-tools, libk4a and libk4abt on Ubuntu 20.04. The general steps are as outlined in https://docs.microsoft.com/en-us/azure/Kinect-dk/sensor-sdk-download, with a couple of hacks to make things work on 20.04.

• use of 18.04 repo, even though OS is 20.04
• installed lower versions of tools and libraries (as latest versions of sensor and body tracker don't seem to be compatible on 20.04)

$ curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
$ sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
$ curl -sSL https://packages.microsoft.com/config/ubuntu/18.04/prod.list | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
$ curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
$ sudo apt-get update
$ sudo apt install libk4a1.3-dev
$ sudo apt install libk4abt1.0-dev
$ sudo apt install k4a-tools=1.3.0

• Verify sensor library by launching camera viewer

$ k4aviewer

• Clone and build Azure Kinect Samples.
• Run simple_3d_viewer to verify body tracker works.

[martivilella]

For the record, another method of getting the latest binaries in Ubuntu 20.04 without adding keys for apt is by simply downloading them manually from Microsoft's package repository and installing them using dpkg (i.e. dpkg -i k4a-tools_1.4.1_amd64.deb). The relevant package repository folder for k4a-tools is here and for libk4a + libk4a-dev here.

[atinfinity]

Do you have a plan to release deb package for Ubuntu 20.04? I tried to build Azure Kinect SDK from source code. But, I could not find libdepthengine.so in https://packages.microsoft.com/ubuntu/20.04/prod/pool/main/.

[matanox]

Reading through the thread I'm a little confused on whether the depth engine is or is not available for use on 20.04 as of now. Hopefully a solution / response to @atinfinity's comment would clarify the current state regarding getting to full functionality on 20.04 ...

[vinesmsuic]

These are the steps I followed to install k4a-tools, libk4a and libk4abt on Ubuntu 20.04. The general steps are as outlined in https://docs.microsoft.com/en-us/azure/Kinect-dk/sensor-sdk-download, with a couple of hacks to make things work on 20.04.

• use of 18.04 repo, even though OS is 20.04
• installed lower versions of tools and libraries (as latest versions of sensor and body tracker don't seem to be compatible on 20.04)

$ curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
$ sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
$ curl -sSL https://packages.microsoft.com/config/ubuntu/18.04/prod.list | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
$ curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
$ sudo apt-get update
$ sudo apt install libk4a1.3-dev
$ sudo apt install libk4abt1.0-dev
$ sudo apt install k4a-tools=1.3.0

• Verify sensor library by launching camera viewer

$ k4aviewer

• Clone and build Azure Kinect Samples.
• Run simple_3d_viewer to verify body tracker works.

Hi, have you tried using Azure_Kinect_ROS_Driver with k4atools on Ubuntu 20.04 as well? I am getting ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: on whatever script I run after trying to run on ros noetic.

I wonder if Azure Kinect really supports Ubuntu 20.04 with ROS driver.

[jackjansen]

It would be nice if the K4A team could support Ubuntu 20.04 officially. The workaround posted by @vinesmsuic works just fine, for development, but it is a bit of a nuisance (actually more than a bit) to integrate it into our ci/cd setup... And reverting to 18.04 for ci/cd doesn't cut it anymore because of other dependencies where we need versions newer than available on 18.04.

[fplk]

Fully agree with @jackjansen - 20.04 is the current LTS, most people I know work on it, 18.04 is now 3 years old. It should be ultra-high priority to get this updated. Please try to support 20.04 - this is blocking me and others significantly. It would also be great if you could find a way to support future LTS versions earlier. Thank you in advance.

[jackjansen]

For people needing a workaround to install K4A in a Docker image I have finally found a workaround that works for me (so far:-), I've posted it in https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494

[apockill]

Any updates on this front? Ubuntu 20.04 isn't getting any younger :wink:

[sloretz]

we don't have automation to test on 20.04 ATM. So we don't release packages we can't test.

By automation to test, do you mean CI or something that tests the binary artifacts? Is it something open source that can be contributed to?

[pucciland95]

Hello all,

I agree that a version for 20.04 is necessary. I must use Windows only for this reason since in my lab. we have an Azure Kinect. I have also tried the workaround of @mpdroid but I am not able to use Ubuntu 18.04 repos in my Ubunto 20.04, probably cause I am a noob. Here my error:

E: The repository 'https://packages.microsoft.com/ubuntu/18.04/prod focal Release' does not have a Release file.

It is something due to the fact that it does not exist a Release for focal (Ubuntu 20.04 as far as I understood).

Hope it may be helpful to someone.

[martivilella]

Instead of adding the repository keys, simply download the files that you need manually from the repositories. You can then install them with dpkg, like so:

dpkg -i k4a-tools_1.4.1_amd64.deb

This will work fine. Links to the repos is in a comment of mine upstream in this thread.

[pucciland95]

Hello @martivilella and thank you for your answer,

I have already tried to download and install them with dpkg both

k4a-tools_1.4.1_amd64.deb libk4abt1.0_1.0.0_amd64.deb libk4a1.3_1.3.0_amd64.deb

in fact running k4aviewer in the terminal the correct interface appears but as soon as I try to run it (after plugging in the Azure Kinect) it gives me back this error:

usb_cmd_create(USB_DEVICE_DEPTH_PROCESSOR, device_index, NULL, &depthmcu->usb_cmd) returned failure in depthmcu_create()

and crashes. Let me know if I have to make some additional steps.

Maybe later I can be more specific about the error, now I cannot use it.

[pucciland95]

As promised here the output after running k4aviewer

[2021-10-29 15:56:27.502] [critical] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (360): find_libusb_device(). libusb device(s) are all unavalable. Is the device being used by another application?
[2021-10-29 15:56:27.502] [error] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (68): usb_cmd_create(USB_DEVICE_DEPTH_PROCESSOR, device_index, NULL, &depthmcu->usb_cmd) returned failure in depthmcu_create()
[2021-10-29 15:56:27.502] [error] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (133): depthmcu_create(index, &device->depthmcu) returned failure in k4a_device_open()
[2021-10-29 15:56:36.810] [critical] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/usbcommand/usbcommand.c (360): find_libusb_device(). libusb device(s) are all unavalable. Is the device being used by another application?
[2021-10-29 15:56:36.810] [error] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/depth_mcu/depth_mcu.c (68): usb_cmd_create(USB_DEVICE_DEPTH_PROCESSOR, device_index, NULL, &depthmcu->usb_cmd) returned failure in depthmcu_create()
[2021-10-29 15:56:36.810] [error] [t=26260] /__w/1/s/extern/Azure-Kinect-Sensor-SDK/src/sdk/k4a.c (133): depthmcu_create(index, &device->depthmcu) returned failure in k4a_device_open()

and here the output of the interface:

Thank you for your help in advance

[luc122c]

@pucciland95 It looks like it can't access the device. Have you added the udev rules as described here? https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md#linux-device-setup

[pucciland95]

@luc122c Thank you so much for your answer! That was exactly the problem :dancing_men: . Now I will try to use the SDK in my code and see if it works also there (but I don't see why it shouldn't)

Cheers!

[pucciland95]

Hello guys, were someone between you guys able to make the body tracking work with version 1.1 and SDK 1.4.1 always in Ubuntu 20.04? If I launch k4abt_simple_3d_viewer it returns the following error:

2021-11-06 21:06:15.935753118 [W:onnxruntime:K4ABT_ORT_Environment, cuda_execution_provider.cc:1885 GetCapability] CUDA kernel not found in registries for Op type: Sign node name: Sign 2021-11-06 21:06:15.937735552 [W:onnxruntime:K4ABT_ORT_Environment, fallback_cpu_capability.h:140 GetCpuPreferedNodes] Force fallback to CPU execution for node: Shape__40 *** buffer overflow detected ***: terminated Aborted (core dumped)

[kenavolic]

This is how we handle the 18.04/20.04 install automatically from the answers given in this thread:

hash lsb_release 2>/dev/null || { echo "ERROR: tool lsb_release needed for analysis"; exit 1; }
os=$(lsb_release -cs)

if [[ $os = "focal" ]]; then
  # Special hack for Azure Kinect Framework not available on Ubuntu 20.04
  # Install k4a SDK from their repository.
  # Bit of a hack, see https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1263
  # The simple solution by @vinesmsuic does not seem to work. This uses the manual 
  # solution by @atinfinity
  # Also, https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190 is part of this solution (needed to non-interactively accept EULA)
  if [[ "$(dpkg -s libk4a1.4-dev | grep Status | awk '{ print $4 }')" != "installed" ]]; then
	  echo "Retrieving azure kinect packages. Be patient..."
	  curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb > /tmp/libk4a1.4_1.4.1_amd64.deb
	  curl -sSL https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb > /tmp/libk4a1.4-dev_1.4.1_amd64.deb
	  echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | sudo debconf-set-selections
	  echo 'libk4a1.4 libk4a1.4/accept-eula select true' | sudo debconf-set-selections
	  sudo dpkg -i /tmp/libk4a1.4_1.4.1_amd64.deb
	  sudo dpkg -i /tmp/libk4a1.4-dev_1.4.1_amd64.deb
  fi
else
  # lib kinect
  curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
  sudo apt-get install -y software-properties-common
  sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
  sudo apt-get update
  echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | sudo debconf-set-selections
  echo 'libk4a1.4 libk4a1.4/accept-eula select true' | sudo debconf-set-selections
  sudo apt-get install -y --no-install-recommends libk4a1.4-dev
fi

[apockill]

A quick FYI- if you don't want to have to save the hash strings to get around the EULA, I found that this works well in docker builds:

yes yes | DEBIAN_FRONTEND=dialog apt-get install -y /tmp/*.deb

[nobuyukioishi]

Thank you, guys! This thread greatly helped me install this SDK on my Ubuntu 20.04.

Though @vinesmsuic mentioned that "the latest versions of sensor and body tracker don't seem to be compatible", at least the simple_3d_viewer demo in Azure Kinect Samples is now working on my environment with the following versions:

k4a-tools 1.4.1 libk4a1.4-dev libk4a1.4 libk4abt1.1-dev libk4abt1.1

I hope Microsoft will soon officially support Ubuntu 20.04.

[jackjansen]

Is there any chance there will be an official apt package for 20.04, ever? @wes-b or anyone else knows?

Ubuntu 22.04 is imminent...

And the workaround with manually downloading the dpkg's works fine, also in my CI/CD setups, but I would like to distribute my software for apt too, and the dependencies become pretty much unusable if there isn't an official way to install the k4a packages...

[floe]

FWIW, I can still install libk4a* and friends on 22.04 by just continuing to use the 18.04 repo entry, however, the k4a-tools package depends on libsoundio1 which is no longer available on 22.04. This only works because I upgraded from 20.04 and still had the libsoundio1 package lying around.

[rajkundu]

FWIW, I can still install libk4a* and friends on 22.04 by just continuing to use the 18.04 repo entry, however, the k4a-tools package depends on libsoundio1 which is no longer available on 22.04. This only works because I upgraded from 20.04 and still had the libsoundio1 package lying around.

I tried to install the SDK on a 22.04 installation but couldn't get it to work for this reason. Any idea how/where exactly libsoundio1 is installed on your system? I tried making symlinks to my manually-installed .so file for the library, but k4aviewer still wouldn't work for me - couldn't find libsoundio.so.1 despite all of my symlinking.

Any chance you could possibly run ldd /usr/bin/k4aviewer and paste the output here? Thank you!

[rajkundu]

In general, any updates on this? How difficult would it be to switch from libsoundio1 to libsoundio2? Seems that is the only thing holding back a binary for 22.04. That being said, 20.04 does and always has worked, so a binary installable via apt would be nice.

[floe]

Any chance you could possibly run ldd /usr/bin/k4aviewer and paste the output here? Thank you!

[0] $ ldd /usr/bin/k4aviewer
	linux-vdso.so.1 (0x00007ffd259e5000)
	libk4arecord.so.1.4 => /lib/x86_64-linux-gnu/libk4arecord.so.1.4 (0x00007fed55a00000)
	libsoundio.so.1 => /lib/x86_64-linux-gnu/libsoundio.so.1 (0x00007fed559e3000)
	libGL.so.1 => /lib/x86_64-linux-gnu/libGL.so.1 (0x00007fed5595c000)
	libk4a.so.1.4 => /lib/x86_64-linux-gnu/libk4a.so.1.4 (0x00007fed55600000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fed56221000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fed5621a000)
	libX11.so.6 => /lib/x86_64-linux-gnu/libX11.so.6 (0x00007fed554c0000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fed56215000)
	libXrandr.so.2 => /lib/x86_64-linux-gnu/libXrandr.so.2 (0x00007fed55dc9000)
	libXinerama.so.1 => /lib/x86_64-linux-gnu/libXinerama.so.1 (0x00007fed56210000)
	libXxf86vm.so.1 => /lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007fed55955000)
	libXcursor.so.1 => /lib/x86_64-linux-gnu/libXcursor.so.1 (0x00007fed55949000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fed55294000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fed551ad000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fed5518d000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fed54f65000)
	/lib64/ld-linux-x86-64.so.2 (0x00007fed56228000)
	libjack.so.0 => /lib/x86_64-linux-gnu/libjack.so.0 (0x00007fed54f10000)
	libpulse.so.0 => /lib/x86_64-linux-gnu/libpulse.so.0 (0x00007fed54ebb000)
	libasound.so.2 => /lib/x86_64-linux-gnu/libasound.so.2 (0x00007fed54db8000)
	libGLdispatch.so.0 => /lib/x86_64-linux-gnu/libGLdispatch.so.0 (0x00007fed54d00000)
	libGLX.so.0 => /lib/x86_64-linux-gnu/libGLX.so.0 (0x00007fed54ccc000)
	libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007fed54ca2000)
	libxcb.so.1 => /lib/x86_64-linux-gnu/libxcb.so.1 (0x00007fed54c78000)
	libXext.so.6 => /lib/x86_64-linux-gnu/libXext.so.6 (0x00007fed55932000)
	libXrender.so.1 => /lib/x86_64-linux-gnu/libXrender.so.1 (0x00007fed54c6b000)
	libXfixes.so.3 => /lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007fed54c63000)
	libdb-5.3.so => /lib/x86_64-linux-gnu/libdb-5.3.so (0x00007fed54ab4000)
	libpulsecommon-15.99.so => /usr/lib/x86_64-linux-gnu/pulseaudio/libpulsecommon-15.99.so (0x00007fed54a2f000)
	libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007fed549e1000)
	libXau.so.6 => /lib/x86_64-linux-gnu/libXau.so.6 (0x00007fed549db000)
	libXdmcp.so.6 => /lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007fed549d3000)
	libsndfile.so.1 => /lib/x86_64-linux-gnu/libsndfile.so.1 (0x00007fed54954000)
	libX11-xcb.so.1 => /lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007fed5494f000)
	libsystemd.so.0 => /lib/x86_64-linux-gnu/libsystemd.so.0 (0x00007fed54888000)
	libasyncns.so.0 => /lib/x86_64-linux-gnu/libasyncns.so.0 (0x00007fed54880000)
	libapparmor.so.1 => /lib/x86_64-linux-gnu/libapparmor.so.1 (0x00007fed5486b000)
	libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007fed54853000)
	libFLAC.so.8 => /lib/x86_64-linux-gnu/libFLAC.so.8 (0x00007fed54817000)
	libvorbis.so.0 => /lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007fed547ea000)
	libvorbisenc.so.2 => /lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007fed5473f000)
	libopus.so.0 => /lib/x86_64-linux-gnu/libopus.so.0 (0x00007fed546e1000)
	libogg.so.0 => /lib/x86_64-linux-gnu/libogg.so.0 (0x00007fed546d6000)
	liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007fed546ab000)
	libzstd.so.1 => /lib/x86_64-linux-gnu/libzstd.so.1 (0x00007fed545dc000)
	liblz4.so.1 => /lib/x86_64-linux-gnu/liblz4.so.1 (0x00007fed545ba000)
	libcap.so.2 => /lib/x86_64-linux-gnu/libcap.so.2 (0x00007fed545af000)
	libgcrypt.so.20 => /lib/x86_64-linux-gnu/libgcrypt.so.20 (0x00007fed54471000)
	libmd.so.0 => /lib/x86_64-linux-gnu/libmd.so.0 (0x00007fed54464000)
	libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007fed5443e000)

[floe]

How about giving https://debian.pkgs.org/11/debian-main-amd64/libsoundio1_1.1.0-1_amd64.deb.html a try? Maybe that might help.