Difference between revisions of "Asus 1000 Kinect"
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sudo apt-get install ros-indigo-freenect-stack | sudo apt-get install ros-indigo-freenect-stack | ||
sudo apt-get install ros-indigo-freenect-launch | 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. [https://github.com/OpenPTrack/open_ptrack/issues/19 Fix hint.] | ||
| + | |||
| + | I created a file called <tt>80-kinect-usb.rules</tt> in <tt>/etc/udev/rules.d</tt> 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 === | === Test === | ||
| − | |||
roscore | roscore | ||
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rosrun image_view image_view image:=camera/rgb/image_color | rosrun image_view image_view image:=camera/rgb/image_color | ||
rosrun image_view disparity_view image:=/camera/depth_registered/disparity | rosrun image_view disparity_view image:=/camera/depth_registered/disparity | ||
| − | The depth map takes roughly 30+ seconds to show up. | + | |
| + | * 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: | The following were not successfull: | ||
| Line 30: | Line 51: | ||
* [http://wiki.ros.org/freenect_camera ROS freenect camera] | * [http://wiki.ros.org/freenect_camera ROS freenect camera] | ||
* [http://sdk.rethinkrobotics.com/wiki/Kinect_basics Kinect Basics] from the Baster site. | * [http://sdk.rethinkrobotics.com/wiki/Kinect_basics Kinect Basics] from the Baster site. | ||
| + | * [http://bi.snu.ac.kr/Courses/4ai12s/Projects/KinectWithROSTutorial.pdf Kinect with ROS Tutorial] | ||
== openni == | == openni == | ||
Latest revision as of 17:39, 29 December 2014
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.
