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  1. Hello, I installed MoveIt for Sawyer using the tutorial on your website (http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial). Everything works well, except that the PlanningScene (octomap) isn't displayed. I just modified the default camera transform (in sawyer_moveit.launch) to: <arg name="camera_link_pose" default="1.63370914 0.18878118 0.83806239 -2.458593673374903 0.33172728805592044 -0.0750022861088028"/> Then to launch MoveIt, I just: - rosrun intera_interface joint_trajectory_action_server.py in a SDK terminal session - roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true in another SDK terminal session Here is a capture of Rviz (Nothing is published on the Planning Scene Topic): Here is what I have in the terminal: ~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true ... logging to /home/sawyer/.ros/log/33db5810-3ace-11e7-860e-1866da494b18/roslaunch-sawyer-HP-Compaq-Pro-6300-SFF-20862.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://169.254.5.155:38982/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/camera/camera_nodelet_manager/num_worker_threads: 4 * /move_group/camera/depth_rectify_depth/interpolation: 0 * /move_group/camera/depth_registered_rectify_depth/interpolation: 0 * /move_group/camera/disparity_depth/max_range: 4.0 * /move_group/camera/disparity_depth/min_range: 0.5 * /move_group/camera/disparity_registered_hw/max_range: 4.0 * /move_group/camera/disparity_registered_hw/min_range: 0.5 * /move_group/camera/disparity_registered_sw/max_range: 4.0 * /move_group/camera/disparity_registered_sw/min_range: 0.5 * /move_group/camera/driver/data_skip: 0 * /move_group/camera/driver/debug: False * /move_group/camera/driver/depth_camera_info_url: * /move_group/camera/driver/depth_frame_id: camera_depth_opti... * /move_group/camera/driver/depth_registration: False * /move_group/camera/driver/device_id: #1 * /move_group/camera/driver/diagnostics_max_frequency: 30.0 * /move_group/camera/driver/diagnostics_min_frequency: 30.0 * /move_group/camera/driver/diagnostics_tolerance: 0.05 * /move_group/camera/driver/diagnostics_window_time: 5.0 * /move_group/camera/driver/enable_depth_diagnostics: False * /move_group/camera/driver/enable_ir_diagnostics: False * /move_group/camera/driver/enable_rgb_diagnostics: False * /move_group/camera/driver/rgb_camera_info_url: * /move_group/camera/driver/rgb_frame_id: camera_rgb_optica... * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/move_group/octomap_frame: camera_link * /move_group/move_group/octomap_resolution: 0.02 * /move_group/move_group/point_subsample: 1 * /move_group/move_group/sensors: [{'max_range': 5.... * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: indigo * /rosversion: 1.11.21 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_attempts: 3 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_timeout: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_attempts: 10 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_timeout: 0.005 NODES /move_group/camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) /move_group/ camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) camera_link_broadcaster (tf/static_transform_publisher) / move_group (moveit_ros_move_group/move_group) rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334 (rviz/rviz) ROS_MASTER_URI=http://021611CP00073.local:11311 core service [/rosout] found process[move_group/camera/camera_nodelet_manager-1]: started with pid [20874] process[move_group/camera/driver-2]: started with pid [20875] process[move_group/camera/rgb_debayer-3]: started with pid [20876] process[move_group/camera/rgb_rectify_mono-4]: started with pid [20877] process[move_group/camera/rgb_rectify_color-5]: started with pid [20878] process[move_group/camera/ir_rectify_ir-6]: started with pid [20879] process[move_group/camera/depth_rectify_depth-7]: started with pid [20883] process[move_group/camera/depth_metric_rect-8]: started with pid [20890] process[move_group/camera/depth_metric-9]: started with pid [20891] process[move_group/camera/depth_points-10]: started with pid [20902] process[move_group/camera/register_depth_rgb-11]: started with pid [20906] process[move_group/camera/points_xyzrgb_sw_registered-12]: started with pid [20907] process[move_group/camera/depth_registered_sw_metric_rect-13]: started with pid [20919] process[move_group/camera/depth_registered_rectify_depth-14]: started with pid [20923] process[move_group/camera/points_xyzrgb_hw_registered-15]: started with pid [20926] [ INFO] [1495016462.598547792]: Initializing nodelet with 4 worker threads. process[move_group/camera/depth_registered_hw_metric_rect-16]: started with pid [20927] process[move_group/camera/depth_registered_metric-17]: started with pid [20941] process[move_group/camera/disparity_depth-18]: started with pid [20946] process[move_group/camera/disparity_registered_sw-19]: started with pid [20948] process[move_group/camera/disparity_registered_hw-20]: started with pid [20952] process[move_group/camera_base_link-21]: started with pid [20953] process[move_group/camera_base_link1-22]: started with pid [20965] process[move_group/camera_base_link2-23]: started with pid [20969] process[move_group/camera_base_link3-24]: started with pid [20980] process[move_group/camera_link_broadcaster-25]: started with pid [20984] process[move_group-26]: started with pid [20986] process[rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334-27]: started with pid [20993] [ INFO] [1495016462.693509168]: Number devices connected: 1 [ INFO] [1495016462.693602953]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366907653103A' [ INFO] [1495016462.694673734]: Searching for device with index = 1 (rviz:20993): Gtk-WARNING **: Unable to locate theme engine in module_path: "adwaita", [ INFO] [1495016462.750378327]: rviz version 1.11.15 [ INFO] [1495016462.750424452]: compiled against Qt version 4.8.6 [ INFO] [1495016462.750436423]: compiled against OGRE version 1.8.1 (Byatis) [ INFO] [1495016462.778280205]: Starting a 3s RGB and Depth stream flush. [ INFO] [1495016462.778359537]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00366907653103A' [ INFO] [1495016462.779418408]: Loading robot model 'sawyer'... [ INFO] [1495016462.859296395]: Stereo is NOT SUPPORTED [ INFO] [1495016462.859370647]: OpenGl version: 3 (GLSL 1.3). [ WARN] [1495016462.895187551]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1495016462.938451761]: Loading robot model 'sawyer'... [ INFO] [1495016462.996939730]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1495016463.005977717]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1495016463.006036440]: Starting scene monitor [ INFO] [1495016463.016688848]: Listening to '/planning_scene' [ INFO] [1495016463.016734632]: Starting world geometry monitor [ INFO] [1495016463.025046719]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1495016463.033351917]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1495016463.062230866]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1495016463.110704157]: Initializing OMPL interface using ROS parameters [ INFO] [1495016463.159454318]: Using planning interface 'OMPL' [ INFO] [1495016463.189799983]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1495016463.192609516]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1495016463.195020096]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.197465266]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.201089427]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1495016463.203597709]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1495016463.203654817]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1495016463.203682529]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1495016463.203711417]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1495016463.203723132]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1495016463.203761613]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1495016463.215644770]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1495016463.217830741]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1495016463.481330910]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1495016463.481450028]: Returned 1 controllers in list [ INFO] [1495016463.516304840]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1495016463.767432287]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1495016463.767507058]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1495016463.767531704]: MoveGroup context initialization complete All is well! Everyone is happy! You can start planning now! [ INFO] [1495016463.848688873]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1495016463.848798099]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1495016463.876687681]: Camera calibration file /home/sawyer/.ros/camera_info/rgb_A00366907653103A.yaml not found. [ WARN] [1495016463.876777590]: Using default parameters for RGB camera calibration. [ WARN] [1495016463.876814517]: Camera calibration file /home/sawyer/.ros/camera_info/depth_A00366907653103A.yaml not found. [ WARN] [1495016463.876862956]: Using default parameters for IR camera calibration. [ INFO] [1495016465.779364068]: Stopping device RGB and Depth stream flush. [ INFO] [1495016466.428636329]: Loading robot model 'sawyer'... [ INFO] [1495016466.532779604]: Loading robot model 'sawyer'... [ INFO] [1495016466.585212741]: Starting scene monitor [ INFO] [1495016466.592453780]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1495016467.469390902]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ INFO] [1495016468.301998541]: TrajectoryExecution will use old service capability. [ INFO] [1495016468.302066666]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1495016468.302105415]: Looking around: no [ INFO] [1495016468.302133111]: Replanning: no I suspect this line to cause a problem with the self filtering: [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. Did you ever succeed using a Kinect with Sawyer and MoveIt before ? Could you help me with this problem ? Thanks in advance !
  2. Hi everyone, My group is working on a human-robot collaboration project. We are trying to use a Microsoft Xbox 360 Kinect with the Sawyer robot. The Kinect is functioning properly and, in fact, when we run roslaunch sawyer_moveit_config sawyer_moveit.launch Kinect:=true electric_gripper:=true, it brings up Rviz and we can visualize the point-cloud generated by the Kinect. However, the octomap does not show up in Rviz. We tried to remove the name space “move_group” in the “sawyer_moveit_sensor_manager.launch.xml” under “moveit_sawyer_config” directory as suggested by this thread: https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI. It didn’t work for us. Next, we looked on the Baxter Research Robot Community forum and found similar, if not identical questions, that were asked back in 2013. The supposed issue is that clock time on the robot computer and time on my development PC are desynchronized. (as suggested by this thread: https://groups.google.com/a/rethinkrobotics.com/forum/#!searchin/brr-users/lookup$20would$20require/brr-users/9z3h8etJkp0/Pkn4p-J0t3gJ). When we run the launch file, we get the warning: [ WARN ] [1499805321.709597996]: Unable to transform object from frame ‘camera_link’ to planning frame ‘/base’ (Lookup would require extrapolation into the past. Requested time 1499805321.720482463 but the earliest data is at time 1499805348.802233425, when looking up transform from frame [camera_link] to frame [base]) Also mentioned in the thread, there was a patch released to fix this issue. However, our softwares are up to date on both the robot computer and our development PC and we are still having this clock desynchronization issue. We are out of ideas as to how to fix this problem. Could anyone please give us some guidance with this issue? Thanks in advance for the help. Bruce
  3. Hello all, I recently completed the process of getting a Kinectv2 working with Sawyer and I'd like to record the steps I took for anyone who might also want to do this. As a quick primer, Kinectv1 is better on edges, but Kinectv2 is much better outdoors, and has higher depth resolution To start I installed libfreenect2 on my workstation. https://github.com/OpenKinect/libfreenect2 I had some trouble when I was using ROS Indigo and Ubuntu 14.04 (as recommended in the Rethink workstation setup) However I updated my machine to ROS Kinetic and Ubuntu 16.04 and as far as I am aware Sawyer works fine. Having done that I followed the libfreenect2 instructions for Ubuntu 16.04 and verified that my install was working by running Protonect from the build folder. After that I installed python bindings for libfreenect2, pylibfreenect2. https://github.com/r9y9/pylibfreenect2 (NOTE: Do not bother with pyfreenect2, it is not maintained and I don't think it ever actually worked) If you want skeleton tracking you should look into OpenNI. I dont have any experience with this though I am working on kinectv2+sawyer robot api, still a wip though. Anyways after the above steps all of the software is taken care of. Then comes the issue of actually mounting the Kinectv2 to the robot. The kinectv2 naturally angles upward by about 15 degrees or so, and I wanted a cheap and easy way to affix it to Sawyer, so I 3-d printed the below mounting block. It has a (6mm) hole in it for screwing the kinectv2 to it, and the bottom is a circular recess that measures ~82.3mm so that it fits very snugly onto Sawer's head (with a bit of filing down). The head will pan to the side long before the mounting block slips. It takes a great deal of force to remove it, which is good as there isnt anything to lock on to without an elaborate setup or drilling a hole into Sawyer. If anyone wants the .stl of the block it is here https://github.com/jshube2/sawyer_mods I can try to answer questions about getting the kinectv2 setup. I likely experienced every possible error message. -Josh
  4. Could anyone give me a guide on how I can install kinect sensor on the Sawyer robot and use it to capture Skeleton.