Only released in EOL distros:
Package Summary
A standalone driver for the Kinect accelerometers and tilt motor.
- Maintainer: Murilo F. M. <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski, William Morris, Stéphane Magnenat, Radu Bogdan Rusu, Patrick Mihelich, Authors of libfreenect
- License: BSD
- Source: git https://github.com/muhrix/kinect_aux.git (branch: groovy)
Package Summary
A standalone driver for the Kinect accelerometers and tilt motor.
- Maintainer status: maintained
- Maintainer: Murilo F. M. <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski, William Morris, Stéphane Magnenat, Radu Bogdan Rusu, Patrick Mihelich, Authors of libfreenect
- License: BSD
- Source: git https://github.com/muhrix/kinect_aux.git (branch: hydro)
Package Summary
A standalone driver for the Kinect accelerometers and tilt motor.
- Maintainer status: maintained
- Maintainer: Murilo F. M. <muhrix AT gmail DOT com>
- Author: Ivan Dryanovski, William Morris, Stéphane Magnenat, Radu Bogdan Rusu, Patrick Mihelich, Authors of libfreenect
- License: BSD
- Source: git https://github.com/muhrix/kinect_aux.git (branch: indigo)
New in Groovy, Hydro and Indigo kinect_aux is now a standalone package. In Electric it was a package in kinect, which is deprecated.
Contents
Overview
This driver provides access to additional features present in the Kinect sensor: accelerometer, tilt, and LED. One may use it in parallel with the openni_camera driver.
Installation
Ubuntu
If you are using Ubuntu, simply install the package using apt-get:
$ sudo apt-get install ros-groovy-kinect-aux
$ sudo apt-get install ros-hydro-kinect-aux
$ sudo apt-get install ros-indigo-kinect-aux
From source
Alternatively, install the package from source as described below.
catkin specific
Assuming a catkin workspace has been created as described in catkin/Tutorials/create_a_workspace, follow the steps below.
Firstly, install the system dependencies (if not yet installed):
$ sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev
Next, download the source code to your catkin workspace and build it:
$ cd ~/catkin_ws/src $ git clone https://github.com/muhrix/kinect_aux.git -b groovy $ cd ~/catkin_ws $ catkin_make
$ cd ~/catkin_ws/src $ git clone https://github.com/muhrix/kinect_aux.git -b hydro $ cd ~/catkin_ws $ catkin_make
$ cd ~/catkin_ws/src $ git clone https://github.com/muhrix/kinect_aux.git -b indigo $ cd ~/catkin_ws $ catkin_make
Lastly, run the node (remember to run roscore if it is not yet running):
$ rosrun kinect_aux kinect_aux_node
Quick tests
To set the the tilt angle to, e.g., -15 degrees (Kinect facing downwards), simply publish a message on the topic (see API below):
$ rostopic pub /tilt_angle std_msgs/Float64 -- -15
To view current tilt angle, run:
$ rostopic echo /cur_tilt_angle
API
kinect_aux_node
Subscribed Topics
/tilt_angle (std_msgs/Float64)- set the tilt angle, must be within [-31:31] degrees
- set the LED option, must be within [0:7]
Published Topics
/imu (sensor_msgs/Imu)- accelerometer data, you might want to change the topic to something like "imu_kinect" to not conflict with the main imu.
- current tilt angle
- current tilt status
Parameters
device_index (int, default: 0)- index of device, if multiple Kinects are connected
Bug reports and feature requests
Use GitHub to report bugs or submit feature requests. [View active issues]
