diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 955d1af0a18b4a7a2fb6dd4656e7247b4285313b..d0da09217c2c8e45a0b1fdcb16495b9634f14e60 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -195,6 +195,32 @@ RUN if [ "$CONAN" = "install" ]; \
     && conan profile update settings.compiler=gcc default; \
     fi
 
+# Install Azure SDK on demand
+ARG AZURE=none
+RUN if [ "$AZURE" = "install" ]; \
+    then \
+    apt-get update && apt-get install -y wget curl libusb-1.0-0-dev udev \
+    # Install libsoundio1 dependency
+    && wget http://archive.ubuntu.com/ubuntu/pool/universe/libs/libsoundio/libsoundio1_1.1.0-1_amd64.deb \
+    dpkg -i libsoundio1_1.1.0-1_amd64.deb && \
+    # Download and install Azure Kinect SDK packages
+    && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb \
+    && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb \
+    && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.4.1_amd64.deb \
+    && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1/libk4abt1.1_1.1.2_amd64.deb \
+    && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1-dev/libk4abt1.1-dev_1.1.2_amd64.deb \
+    # Install the packages
+    && echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
+    && echo 'libk4abt1.1 libk4abt1.1/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
+    && dpkg -i libk4a1.4_1.4.1_amd64.deb \
+    && dpkg -i libk4a1.4-dev_1.4.1_amd64.deb \
+    dpkg -i libk4abt1.1_1.1.2_amd64.deb && \
+    && dpkg -i libk4abt1.1-dev_1.1.2_amd64.deb \
+    && dpkg -i k4a-tools_1.4.1_amd64.deb \
+    # Clean up
+    && rm -rf *; \
+    fi
+
 # ARG ROSDEP=none
 # RUN if [ "$ROSDEP" != "none" ]; \
 #     then \