[ros-users] accelerometer and tilt support + depth function

Melonee Wise mwise at willowgarage.com
Wed Nov 17 10:36:07 UTC 2010

That is an interesting point.. I'm not sure what the best way to handle the
get_tilt update is? does anyone else have thoughts?

I have confirmed that the 8th byte is the angle..where positive angles are
just the value/2 and negative angles are (255-value)/2 and of course the 9th
byte is the moving (0x04), stopped, (0x00), and limit (0x01) as previously

2010/11/17 Stéphane Magnenat <stephane.magnenat at mavt.ethz.ch>

> On 17/11/10 10:49, Melonee Wise wrote:
>> Yes it's a branch but anyone is welcome to take my changes. I haven't
>>  added the accelerometer to the driver but I can add it (is there any
>>  preference on units), I am also trying to find if the current tilt
>> position is published by the kinect so I can add a get method.
> I have forked your rep and added the accelerometers, see [1]. As Matthieu
> suggested, we might want to use this call to update the tilt position and
> store it in freenect_device. But the problem is that it will be updated only
> when the get_accelerometer is called. Do we want to add a thread doing this
> in background and updating cached values inside freenect_device?
> Kind regards,
> Stéphane
> [1] https://github.com/stephanemagnenat/libfreenect
> --
> Dr Stéphane Magnenat
> http://stephane.magnenat.net

Senior Engineer
Intern Program Director
Willow Garage
68 Willow Rd.
Menlo Park, Ca 94025
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