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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.

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
/led_option (std_msgs/UInt16)
  • 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.
/cur_tilt_angle (std_msgs/Float64)
  • current tilt angle
/cur_tilt_status (std_msgs/UInt8)
  • 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]

Wiki: kinect_aux (last edited 2015-03-20 15:12:59 by MuriloFM)