kinectV2_ros2

A ros2 wrapper for the libk4w2 that publishes rgb and depth data into the ros2 system along with camera_info. check out https://github.com/yoshimoto/libk4w2/tree/master for info about the original open source library with its dependencies

• clone the repo to your ros2_ws/src folder then cd ..
• run colcon build --symlink-install --packages-select camera_publisher
• open a new terminal and run ros2 run camera_publisher pub this file publishes the rgb and depth data as well as camera_info topic.
• use rviz2 to visualize the output from the kinect2, you can convert to pointcloud2 using this package https://github.com/ricardodeazambuja/depthimage_to_pointcloud2