kinect_ros2

The package defines the depth and rgb camera calibration parameters in the cfg folder used to publish the relative CameraInfo messages.

Launch files

The stream_kinect.py launch file allows to define:

• the Tfs of the camera wrt the world frame (camera extrinsic parameters)
• the topic on which the RegisterNode subscribes. The RegisterNode reproject the depth map relatively to the rgb camera, allowing to use a unique CameraInfo message for both the images.