josh_jhu

This is how to get Kinect v2 working with sawyer

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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. 

20170220_191552.jpg.6a4237055b9a32ec2f130658bbda886f.jpg

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).

20170220_194859.jpg.4faa3d580c57779582d342198d792590.jpg

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.

20170220_213454.jpg.6f218ac23ae1d06a73cdfa9c3027b0a7.jpg


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

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