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README
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This document includs:
1. Instruction to install kinect openni driver and on ubuntu 14.04 with ROS indigo.
2. Demo of baxter teleoperation with kinect.
If you have any question, you can contact me.
=================================================================
Part I
=================================================================
Install kinect driver
OpenNI
components
sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential
libxmu-dev libxi-dev libusb-1.0-0-dev doxygen graphviz mono-complete
download the OpenNI-Package
mkdir ~/kinect
cd ~/kinect
git clone https://github.com/OpenNI/OpenNI.git
compiling the package:
cd OpenNI/Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
Installation of OpenNI:
cd Final
tar -xjf OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar.bz2
cd OpenNI-Bin-Dev-Linux-x64-v1.5.7.10
sudo ./install.sh
SesorKinect
The way to get this part to work is similar to the OpenNI guide:
Download Package:
cd ~kinect/
git clone git://github.com/ph4m/SensorKinect.git
Compile Package with Redit:
cd SensorKinect/Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
And finally Installation:
cd Final
tar -xjf Sensor-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1
sudo ./install.sh
NITE
You can download this Library for example from the link mentioned in the post above. Don't forget that only the Versions NITE v1.5.2.21 and NITE v1.5.2.23 will work for you. Paste the nite-folder into your kinect-folder to keep track of your data:
cd ~kinect/nite/
tar -xjf NITE-Bin-Dev-Linux-x64-v1.5.2.23.tar.bz2
cd NITE-Bin-Dev-Linux-x64-v1.5.2.23
sudo ./install.sh
Now that everything around ROS is installed, we should reboot the system: sudo reboot
ROS-Components
After we have installed all peripheral Libraries, we can install the required ros-core-components for OpenNI-usage. But we have to delete one library before that because of some issues that will appear otherwise: sudo apt-get remove libopenni-sensor-pointclouds0
Next Step is the Installation of the ROS-Kinect-driver:
sudo apt-get install ros-indigo-openni-launch
sudo apt-get install ros-indigo-openni-camera
Finally we can install the openni_tracker to our usually workspace (for example the catkin_ws): cd ~catkin_ws/src
git clone https://github.com/ros-drivers/openni_tracker.git
cd ..
Usage You need to start several terminals to work with the tracker. Terminal_1: roslaunch openni_launch openni_launch
Terminal_2: rosrun openni_tracker openni_tracker
Reboot you system
Terminal_3: rosrun rviz rviz
Now your system should be set up to be able to track a person under Indigo and to visualize the result. It would be very nice if someone could try to follow the instructions to verify this way.
========================================================
Part II
=======================================================
run baxter evironment variable setup script ./baxter.sh
roslaunch baxter_teleop baxter_teleop.launch
start to control you baxter with kinect.