Kinect install instructions
From Tekkotsu Wiki
Contents |
Kinect Setup for Tekkotsu
1. Install required packages:
sudo -s apt-get -y install g++ git-core python libusb-1.0-0-dev freeglut3-dev doxygen apt-get -y install libmono-winforms*
2. Install OpenNI driver: as of 8/1/2011 we're using the unstable version.
cd /opt git clone https://github.com/OpenNI/OpenNI.git cd OpenNI git checkout unstable cd Platform/Linux/CreateRedist chmod +x RedistMaker ./RedistMaker cd ../Redist/OpenNI* ./install.sh
3. Install Sensor package from avin2:
cd /opt git clone https://github.com/avin2/SensorKinect cd SensorKinect/Platform/Linux/CreateRedist chmod +x * ./RedistMaker cd ../Redist/Sensor* ./install.sh
Once the above steps are completed, recompiling Tekkotsu will enable Kinect support. Additional steps:
4. Add udev rules to fix device protections:
cat << EOF >> /etc/udev/rules.d/51-kinect.rules
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"
# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"
# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"
EOF
5. Try an OpenNI demo (plug in the Kinect first):
cd /opt/OpenNI/Platform/Linux/Bin/*Release ./NiViewer
6. Add new users to the video group to give them device access. (Note: on Tekkotsu robots,'user' is already a member of the video group. So you only need to do this step if you have created additional users.)
adduser <username> video
Other Kinect Resources
libfreenect
libfreenect from OpenKinect.org is an open source Kinect package with a nice demo called glcview. To install it and run the demo, do:
sudo -s apt-get -y install git-core cmake libglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev cd /opt git clone https://github.com/OpenKinect/libfreenect.git cd libfreenect mkdir build cd build cmake .. make make install ldconfig /usr/local/lib64/ glview
ROS openni_kinect
ROS includes an openni_kinect stack based on the OpenNI driver for Kinect.
