Asus 1000 Kinect

freenect

Install

 apt-cache search ros | grep freenect
 
 sudo apt-get install ros-indigo-freenect-stack
 sudo apt-get install ros-indigo-freenect-launch

Test

Currently running in root to get the kinect to connect.

 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.