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index 926ac1e..07dfeff 100644
--- a/source/conf.json
+++ b/source/conf.json
@@ -60,7 +60,7 @@
 									"name": "清点 - 台式 Mini 计算机 （已停产）",
 									"uri": "version_two/user_guide/quick_start/mini_old"
 								}
-						],
+						]
 					},
 					{
 						"name": "组装测试",
@@ -140,7 +140,21 @@
 										"uri": "version_two/network/keyboard-plugin"
 									}
 								]
-							}
+							},
+							{
+								"name": "Kinect V2使用手册",
+								"items": [
+									{
+										"name": "简介",
+										"uri": "version_two/kinect/introduce"
+									},
+									{
+										"name": "使用",
+										"uri": "version_two/kinect/open"
+									}
+									
+								]
+							},
 						]
 					},
 					{
@@ -166,7 +180,7 @@
 										"name": "其他",
 										"uri": "common/q_a/doc4"
 								}
-						],
+						]
 					},
 					{
 						"name": "操作系统相关",
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diff --git a/source/version_two/kinect/introduce.md b/source/version_two/kinect/introduce.md
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index 0000000..2b73c97
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+++ b/source/version_two/kinect/introduce.md
@@ -0,0 +1,39 @@
+# 简介
+
+## 产品介绍
+
+Kinect v2是微软发布的一款3D体感摄影机，是一种体感交互设备，
+可以获取物体的深度信息，判断物体的位置，深度检测是Kinect的核心技术，
+Kinect v2的深度检测用的是TOF（Time Of Light）的方式：
+通过红外摄像头投射红外线形成反射光，根据光线飞行时间判断物体位置，形成深度图像。
+
+## 结构图
+
+![](imgs/structure-chart01.png)
+
+![](imgs/structure-chart02.png)
+
+## 基本参数
+
+| 项目                 | 规格            |
+| ------------------- | --------------- |
+| 尺寸       | 24.9cm x 6.6cm x 6.7cm          |
+| 彩色影像   |1920 x 1080 @ 30 / 15 FPS（根据环境亮度） |
+| 深度影像   | 512 x 424 @ 30 FPS、16bit 距离值（mm）、可侦测范围0.5 ~ 4.5 m|
+| 红外线影像  | 512 x 424 @ 30 FPS、16bit 强度值        |
+| FOV       | 70°x 60°          |
+ 
+ 
+
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diff --git a/source/version_two/kinect/open.md b/source/version_two/kinect/open.md
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+++ b/source/version_two/kinect/open.md
@@ -0,0 +1,89 @@
+# 启动Kinect ROS驱动
+
+步骤：
+* 1.进入工作空间
+* 方法：在终端执行cd catkin_ws
+* 2.配置环境变量
+* 方法：在终端执行source devel/setup.bash
+* 3.启动驱动
+* 方法：在终端执行roslaunch kinect2_bridge kinect2_bridge.launch
+
+![](imgs/structure-chart01.png)
+
+# 查看Kinect RGB图像
+
+<b style="color:red;">前提：启动Kinect ROS驱动</b>
+
+步骤：
+
+1.进入工作空间
+方法：在终端执行cd catkin_ws
+2.配置环境变量
+方法：在终端执行source devel/setup.bash
+3.在终端执行命令：rosrun image_view image_view image:=/kinect2/sd/image_color
+
+![](imgs/RGB-picture01.png)
+
+# 查看Kinect 深度图像
+
+<b style="color:red;">前提：启动Kinect ROS驱动</b>
+
+步骤：
+
+1.打开终端，输入rviz后弹出rviz窗口，点击窗口左下角【add】 
+
+![](imgs/picture1.png)
+
+2.点击弹窗中【by topic】- 打开【/kinect2/sd/points】- 选择PointCloud2 -【ok】
+
+![](imgs/picture2.png)
+
+3.复制【kinect2_ir_optical_frame】到Global options->Fixed Frame，替换【map】
+
+![](imgs/picture3.png)
+
+![](imgs/picture4.png)
+
+# 在建图/导航/循迹中打开摄像头（查看周围环境）
+
+<b style="color:red;">以建图为例：</b>
+
+步骤：
+
+1.在建图launch文件里引入深度相机的驱动启动，保存
+
+![](imgs/picture5.png)
+
+2.启动建图
+
+rviz里新起一个话题
+方法：点击左下角【add】，选择【topic】，选择【/kinect2/hd/image_color】，下拉下来选最后一个，然后ctrl+s保存
+
+![](imgs/picture6.png)
+
+# 在建图/导航/循迹中显示深度数据
+
+步骤：
+
+<b style="color:red;">以建图为例：</b>
+
+<b style="color:red;">1.将kinect驱动加载到建图launch文件中（方法同上）</b>
+
+2.rviz里新起一个话题
+点击左下角【add】，选择【topic】，选择【/kinect2/sd/image_depth】，下拉下来选最后一个，然后ctrl+s保存
+
+![](imgs/picture7.png)
+
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