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## title = Running the articulation perception demo using a Microsoft Kinect sensor
## description = This tutorial explains how to install and run the articulation perception demo.
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=== Download and installation ===
All required packages are available as Ubuntu packages. To install them, run in a terminal:
{{{
sudo apt-get install ros-diamondback-articulation ros-diamondback-openni-kinect
}}}

=== Run the demo ===
Make sure that the Kinect sensor is plugged in to your computer and make sure that you have the appropriate permissions set for the device.
{{{
roslaunch articulation_perception kinect_demo.launch
}}}

=== Videos ===
Example with an office pedestal:
  * [[attachment:cabinet-raw.ogv]] The raw video
  * [[attachment:cabinet-segmentation.ogv]] The result after segmentation and detection
  * [[attachment:cabinet-rviz.ogv]] The learned kinematic model visualized in RVIZ

Example with a laptop lid:
  * [[attachment:laptop-rgb.ogv]] The raw video
  * [[attachment:laptop-segmentation.ogv]] After segmentation and detection
  * [[attachment:laptop-rviz.ogv]] The learned kinematic model

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