Asus 1000 Kinect
From wikidb
freenect
Install
apt-cache search ros | grep freenect sudo apt-get install ros-indigo-freenect-stack sudo apt-get install ros-indigo-freenect-launch
USB Fix
Fixed the "No device connected.... waiting for devices to be connected" problem. The test programs had to be run as root. Fix hint.
I created a file called 80-kinect-usb.rules in /etc/udev/rules.d that contained the following:
#--avin mod-- # Kinect SUBSYSTEM=="usb", ATTR{idProduct}=="02ae", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="02ad", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="audio" SUBSYSTEM=="usb", ATTR{idProduct}=="02b0", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="02be", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="audio" SUBSYSTEM=="usb", ATTR{idProduct}=="02bf", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="02c2", ATTR{idVendor}=="045e", MODE:="0666", OWNER:="root", GROUP:="video"
Test
roscore roslaunch freenect_launch freenect.launch \ rgb_frame_id:=camera_rgb_optical_frame \ depth_frame_id:=camera_depth_optical_frame rosrun image_view image_view image:=camera/rgb/image_color rosrun image_view disparity_view image:=/camera/depth_registered/disparity
- The depth map takes roughly 30+ seconds to show up.
- Using top the process load is:
- nodelet: 110%
- image_view: 40%
- disparity_view: 30%
- Using uptime the system load is 4.3
Failed Commands
The following were not successfull:
roslaunch freenect_launch freenect.launch roslaunch freenect_launch kinect_frames.launch # errors point to the following command roslaunch rgbd_launch kinect_frames.launch
References
- ROS freenect stack
- ROS freenect launch
- ROS freenect camera
- Kinect Basics from the Baster site.
- Kinect with ROS Tutorial
openni
sudo apt-get install ros-indigo-openni-camera sudo apt-get install ros-indigo-openni-launch
Same test as above. There was no image or depth map.