ROS on Pi2 with Kinect

ROS on Pi2 with Kinect
Participants
Skills	Software, Vendor specific software
Status	Dead
Niche	Software
Purpose	Use in other project
Tool	No
Location
Cost
Tool category

ROS on Pi2 with Kinect

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What do we want

• ROS installed and functional
• Kinect sensor attached, powered and working with ROS (as depth images)

Where are you going to run this

On a Raspberry Pi2. Although 99.9999% is reproducable on Pi1.

We are also going to try to process data externally, over wifi or ethernet, or something...

What were the starting points

• http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi
• https://malcolmmielle.wordpress.com/2014/06/16/tales-of-using-ros-and-raspberry-pi-2/

Woah! How do I do this?

OpenNI

sudo apt-get install git g++ python libusb-1.0-0-dev freeglut3-dev openjdk-6-jdk graphviz
mkdir -p OpenNI/stable; cd OpenNI/; 

OpenNI2

Super easy. Just need to undo part of this commit.

git clone https://github.com/kalectro/OpenNI2.git
cd OpenNI2/
sed -i s/armv7/armv7-a/g ThirdParty/PSCommon/BuildSystem/Platform.Arm
make -j 4

What did we learn along the way

• https://github.com/xxorde/librekinect