Support Noetic with latest Azure Kinect SDK on 20.04.

[ooeygui]

This is a work item to fork and support Noetic with the latest Kinect SDK.

[yuukireina05]

Is Azure Kinect SDK going to support Ubuntu 20.04 as well as ROS Noetic? When will the update release?

[mac137]

The same question as above. Thanks!

[dirkmcpherson]

Is there a branch somewhere for this? Or does someone have an implementation plan?

Ubuntu 20.04 with Cuda 11.8 on Ros Noetic gives me:

Non-zero status code returned while running Pad node. Name:'workaround_cudnn' Status Message: 
2023-01-10 15:41:53.928483133 [E:onnxruntime:K4ABT_ORT_Environment, cuda_call.cc:93 CudaCall] CUDA failure 48: no kernel image is available for execution on the device ; GPU=0 ; hostname=redacted ; expr=cudaGetLastError(); 

using libk4a1.3* libk4abt1.0*

[ooeygui]

@dirkmcpherson The ROS driver is dependent on the SDK, which is not officially supported on 20.04 or beyond. Please +1 this issue: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1263

[dirkmcpherson]

@ooeygui Thanks!

FYI it seems to work with libk4a1.4* and libk4abt1.1* if you change the relevant version numbers in the top level CMakeLists.txt and, in addition, fix the error described here: microsoft/Azure_Kinect_ROS_Driver/issues/143.

I can track skeletons on Noetic ~5hz with this setup.

[omerKurkutlu]

Is Azure Kinect SDK going to support Ubuntu 20.04 as well as ROS Noetic? When will the update release?

I succeeded to run Azure Kinect in ROS Noetic with Ubuntu 20.04.

First, I followed this video.

Then, I got output but when I selected the 3d option on SDK, it was giving an error as in the image.

To solve this problem, I need to update the OpenGL version from 4.3 to 4.6. (It has to be minimum 4.4) You can see your version by typing this command in terminal "inxi -G".

In order to use ROS- Noetic there is no repository but the one in the link for ROS-Melodic works without a problem. You just download the GitHub repo in your ROS-Noetic catkin-ws and catkin_make. That is it...