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

Ruben Smits ruben.smits at mech.kuleuven.be
Wed Nov 17 10:42:50 UTC 2010

On Wednesday 17 November 2010 11:25:27 Stéphane Magnenat wrote:
> 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?

i would not put threading into a driver-library, this makes it less re-usable 
as it already includes some choices on the activity level. Maybe this is 
something that has to be taken care of by the node/component?


> Kind regards,
> Stéphane
> [1] https://github.com/stephanemagnenat/libfreenect

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