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Kinect Azure Service

Usage Instructions

  • By default, the service runs on port 5016.
    • This can be changed by setting ARCOR2_KINECT_AZURE_URL.
  • Kinect SDK has to be installed beforehand (sudo ./build-support/install_kinect_prerequisites.sh).
  • You may need to run following commands when using the real sensor to set permissions:
sudo wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules -P /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
  • The real kinect needs display. Insert any dummy HDMI plug to graphics card or plug in real monitor.
  • When all of the above is done, execute ./pants run src/python/arcor2_kinect_azure/scripts/kinect_azure.py and the app should run without any problem

Note that the app cannot run in docker when using real kinect device. Follow steps above to run in production

Environment variables

  • ARCOR2_KINECT_AZURE_URL=http://0.0.0.0:5016 - by default, the service listens on port 5016.
  • ARCOR2_KINECT_AZURE_MOCK=1 - the service will start in a mock (simulator) mode.
  • ARCOR2_REST_API_DEBUG=1 - turns on Flask debugging (logs each endpoint call).
  • ARCOR2_KINECT_AZURE_DEBUG=1 - turns on additional debugging