[ros-users] libfreenect based Kinect driver

[Kevin Walchko]

cool …

Here is my libfreenect driver: https://github.com/walchko/kinect

I forked the original ros driver stack, made it more compatible with the current openni driver, and added some other stuff. Feel free to take whatever you feel is useful.

I am currently playing around with the raspberry pi (ARM) and want to eventually hook the kinect up to it. Having trouble getting ros setup right now on ARM.

On Oct 16, 2012, at 6:52 PM, Piyush <piyushk at 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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