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

Environment variables

• ARCOR2_KINECT_AZURE_URL=http://localhost: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).

Changelog

The format is based on Keep a Changelog,

[0.6.0] - 2023-03-06

Changed

• Health check end-point at /healthz/ready.
• Requires pose in the body of GET /state/start.

Added

• New endpoint GET /state/pose.

[0.5.0] - 2022-10-28

Changed

• BREAKING: Implement new error handling flow. Error codes of every endpoint were replaced with error types as described in swagger documentation.
• Changed service name.
• Switched to Python 3.10, updated dependencies.

[0.4.0] - 2021-10-25

Changed

• New environment variable ARCOR2_KINECT_AZURE_MOCK.

Fixed

• Depth file was not packaged (used in mock mode).

[0.3.0] - 2021-05-21

Changed

• Lazy import of pyk4a - mock can run without it.

[0.2.0] - 2021-02-08

Changed

• Mock now sends real images.
• Part of the code refactored into arcor2/flask.py.

[0.1.0] - 2020-12-14

Changed

• Initial release of the package.