diff --git a/wpb_home_bringup/scripts/90-kinect2.rules b/wpb_home_bringup/scripts/90-kinect2.rules
new file mode 100644
index 0000000..55936e3
--- /dev/null
+++ b/wpb_home_bringup/scripts/90-kinect2.rules
@@ -0,0 +1,5 @@
+# this file belongs in /etc/udev/rules.d/
+# ATTR{product}=="Kinect2"
+SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666"
+SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666"
+SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"
diff --git a/wpb_home_bringup/scripts/create_udev_rules.sh b/wpb_home_bringup/scripts/create_udev_rules.sh
old mode 100644
new mode 100755
index 9a8b657..6162273
--- a/wpb_home_bringup/scripts/create_udev_rules.sh
+++ b/wpb_home_bringup/scripts/create_udev_rules.sh
@@ -9,6 +9,10 @@ echo "remap the device serial port(ttyUSBX) to rplidar"
 echo "start copy rplidar.rules to  /etc/udev/rules.d/"
 sudo cp `rospack find wpb_home_bringup`/scripts/rplidar.rules  /etc/udev/rules.d
 
+echo "set kinect2 rules"
+echo "start copy 90-kinect2.rules to  /etc/udev/rules.d/"
+sudo cp `rospack find wpb_home_bringup`/scripts/90-kinect2.rules  /etc/udev/rules.d
+
 echo "Restarting udev"
 sudo service udev reload
 sudo service udev restart
diff --git a/wpb_home_bringup/scripts/delete_udev_rules.sh b/wpb_home_bringup/scripts/delete_udev_rules.sh
old mode 100644
new mode 100755
index f2fdc33..249f0de
--- a/wpb_home_bringup/scripts/delete_udev_rules.sh
+++ b/wpb_home_bringup/scripts/delete_udev_rules.sh
@@ -3,6 +3,10 @@
 echo "***************"
 echo "delete the remap device serial port to ftdi"
 sudo rm   /etc/udev/rules.d/ftdi.rules
+echo "delete the remap device serial port to rplidar"
+sudo rm   /etc/udev/rules.d/rplidar.rules
+echo "delete the kinect2 rules"
+sudo rm   /etc/udev/rules.d/90-kinect2.rules
 echo "Restarting udev"
 sudo service udev reload
 sudo service udev restart