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--- robocup:kinect_aux_robotic_arm_package [2016/02/22 14:44]
nfave
+++ robocup:kinect_aux_robotic_arm_package [2017/03/31 11:49]
mai ↷ Page moved from robobcup:kinect_aux_robotic_arm_package to robocup:kinect_aux_robotic_arm_package
@@ Line 1: / Line 1: @@
 ====== Kinect_aux_robotic_arm (ROS package) ======
-{{tag> ROS ros_package}}
+{{tag> ROS ros_package software}}
 =====Overview=====
-This package is the modified version of the kinect_aux package. It is used to modify the angle of the kinect (between -50° and 0° in absolute angle thanks to the accelerometer in the kinect).
+This package is the modified version of the [[http://wiki.ros.org/kinect_aux|kinect_aux]] package . It is used to modify the angle of the kinect (between -50° and 0° in absolute angle thanks to the accelerometer in the kinect).
 =====Installation=====
@@ Line 16: / Line 16: @@
 Enter this command in order to have the kinect parallel from the ground.
-	rostopic pub /tilt_angle std_msgs/Float64 -- 0
+	rostopic pub -1 /tilt_angle std_msgs/Float64 -- 0
 =====API=====
+====Subscribed Topics====
+/tilt_angle (std_msgs/Float64)
+set the tilt angle, must be within [-50:0] degrees
+/led_option (std_msgs/UInt16)
+set the LED option, must be within [0:7]
+====Published Topics====
+/imu (sensor_msgs/Imu)
+accelerometer data, you might want to change the topic to something like "imu_kinect" to not conflict with the main imu.
+/cur_tilt_angle (std_msgs/Float64)
+current tilt angle
+/cur_tilt_status (std_msgs/UInt8)
+current tilt status
 =====Bug reports and feature requests=====