Piyush

Is there a reason you didn't address the stability issues in the openni driver instead of switching to the libfreenect?  

By the way I think this is a critical issue. Many people use the kinect and having an unstable driver in ROS is a big black eye.

Sent from my mobile phone

On Oct 17, 2012, at 12:52 AM, "Piyush" <piyushk@gmail.com> wrote:

> Hey folks,
> 
> The openni driver for the kinect has had some stability issues over
> the last 6 months. This is now documented through a few threads on
> answers.ros.org and a few bug tickets. I believe some people can still
> run the driver successfully, whereas some cannot (including myself).
> All my machines are setup similarly, and at this time I cannot get the
> OpenNI to work on any of them.
> 
> I have spent a bit of time in the last couple of days throwing
> together a libfreenect based substitute. The main goal while writing
> this driver was to get the driver to have the same API as the openni
> one, allowing transitioning between the 2 drivers with minimum
> modifications. For this reason, I've used the current openni driver as
> a base rather than the now deprecated kinect_camera stack. The driver
> can be found here:
> https://github.com/piyushk/freenect-ros-pkg
> https://raw.github.com/piyushk/freenect-ros-pkg/master/rosinstall/freenect.rosinstall
> 
> The driver works but is quite rough (needs code cleanup and thread
> safety), and a registration issue needs to be solved:
> https://github.com/piyushk/freenect-ros-pkg/issues/
> 
> Is anybody interested in helping me test/maintain/develop this driver
> (I can only test it on 12.04/Fuerte)? I could use a bit of information
> from someone with a working openni driver to solve the registration
> issue above.
> 
> If you want to test the driver above, you need to take the following steps:
> 1) The rosdeps are currently being pushed, so hand install these
> packages if rosdep udpate does not catch them (libxmu-dev libxi-dev)
> 2) Blacklist gspac-kinect module if you have not done so already
>  - Temporarily: sudo modprobe -r gspca_kinect
>  - Permanently: sudo echo "blacklist gspca_kinect" >>
> /etc/modprobe.d/blacklist.conf
> 
> Thanks!
> Piyush
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