Differences

This shows you the differences between two versions of the page.

--- robocup:kinect_aux_robotic_arm_package [2016/02/22 08:15]
nfave
+++ robocup:kinect_aux_robotic_arm_package [2019/04/25 14:08] (current)
@@ Line 1: / Line 1: @@
 ====== Kinect_aux_robotic_arm (ROS package) ======
+{{tag> ROS ros_package software Kinect}}
 =====Overview=====
+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=====
+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.
+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
+/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=====