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robocup:kinect_aux_robotic_arm_package [2016/02/22 14:54] nfave [Subscribed Topics] |
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| - | ====== Kinect_aux_robotic_arm (ROS package) ====== | ||
| - | {{tag> ROS ros_package}} | ||
| - | =====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). | ||
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| - | =====Installation===== | ||
| - | |||
| - | This package was developed for the Indigo distro and is using the catkin package type and works with the model 1414 of the kinect but not with the model 1473. | ||
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| - | To install it, you just have to download the following archives and extract it in .../catkin_ws/src, then open a console, go to catkin_ws and enter the command | ||
| - | catkin_make | ||
| - | |||
| - | {{:kinect_aux_robotic_arm.tar.gz|}} | ||
| - | =====Quick tests===== | ||
| - | |||
| - | Enter this command in order to have the kinect parallel from the ground. | ||
| - | 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 | ||
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| - | /led_option (std_msgs/UInt16) | ||
| - | |||
| - | set the LED option, must be within [0:7] | ||
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| - | ====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 | ||
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| - | /cur_tilt_status (std_msgs/UInt8) | ||
| - | |||
| - | current tilt status | ||
| - | =====Bug reports and feature requests===== | ||