[ros-users] ROS, Kinect and gumstix
cedric.pradalier at mavt.ethz.ch
Thu Nov 18 18:56:47 UTC 2010
Yes, I started from it and I had to tweak it to cross-compile it. In
particular, the check for libusb is not compatible with
cross-compilation, as it absolutely want to get my
/usr/include/libusb-1.0 in the compilation paths. Also, I noticed the
depth image was not exported, so I had to add a bit of code to implement
A big part of the cpu load is in the USB management in the kernel (35%),
then the ros infrastructure (rosout, roscore, etc...) is using 3-5% ,
and top is reporting 45% user-time load.
For comparison "rostopic hz" was using around 7%.
Regarding optimisation, I would say the current code is definitely
cpu-agnostic and I guess optimisation would require to use some of the
feature of the CPU, but I have not much experience on optimising for the
On 11/18/10 18:25, Radu Bogdan Rusu wrote:
> Awesome! Where do you think the CPU load is coming from? Can you
> profile it? Let's see if there's ways of improving that, as clearly we
> wont have too many CPU cycles left for processing if the driver alone
> is eating up that much :)
> Are you using the ros-pkg-git kinect driver?
> On 11/18/2010 07:48 AM, Cedric Pradalier wrote:
>> For information, we just managed to have the kinect working on a gumstix
>> overo (arm). Once the cross-compiling is done, there is no major
>> We temporarily hacked the driver to publish only the depth image for
>> this test.
>> In this setup, we publish about 9 fps (rostopic hz) and use around 65%
>> of the CPU.
>> Next step: see if we can even control a robot with this information :)
Dr. Cedric Pradalier
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