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using_the_softkinetic_ds325_drivers_for_the_creative_senz3d_sensor_with_ros_indigo

Setting up the Creative Senz3D Sensor in Linux

Compile the driver and install it

Go to softkinetic's website: http://www.softkinetic.com/ Register with the site using an email address and verify your email address. Log into the softkinetic.com site with your verified account. Select Support→Downloads from the site menu Select the “DS311 & DS325 DepthSense SDK Linux” link Download the appropriate distribution of the source code/binary code for your linux system architecture and distribution.

Install ROS Indigo

http://wiki.ros.org/indigo/Installation/Ubuntu

Add the repository: Ubuntu 14.04 (Trusty)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

Add the repository key:

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

Update the repository packages:

apt-get update

Install the base ROS indigo system: ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

sudo apt-get install ros-indigo-ros-base

Initialize rosdep: Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

Environment setup: It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/indigo/setup.bash

Get the Sensor ROS packages

Problem with dependency as described here; http://choorucode.com/2014/05/06/depthsense-error-some-dll-files-are-missing/ fix:

sudo ln -s /lib/x86_64-linux-gnu/libudev.so.1.3.5 /lib/x86_64-linux-gnu/libudev.so.0

Getting rosinstall: rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run:

sudo apt-get install python-rosinstall

Getting ROS to work: Create a ROS workspace:

mkdir ros
cd ros
mkdir src
cd src
catkin_init_workspace
git clone https://github.com/ipa320/softkinetic.git
cd ..
sudo apt-get install ros-indigo-perception-pcl
sudo apt-get install ros-indigo-cv-bridge
sudo apt-get install ros-indigo-image-transport
sudo apt-get install ros-indigo-camera-info-manager
catkin_make
roslaunch src/softkinetic/softkinetic_camera/launch/softkinetic_cameras.launch

run roscore in a separate tab
rosparam set camera_link "/softkinetic_link"
rosparam set confidence_threshold 150
rosparam list
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros/src/softkinetic
rospack find softkinetic_camera
cd devel/
source setup.bash
roslaunch ../src/softkinetic/softkinetic_camera/launch/softkinetic_camera_demo.launch

git clone https://github.com/scottmishra/creative_interactive_gesture_camera.git

sudo apt-get install ros-indigo-libg2o
sudo apt-get install ros-indigo-mrpt-bridge

Add the camera driver as a ROS Indigo driver package https://github.com/ipa320/softkinetic

using_the_softkinetic_ds325_drivers_for_the_creative_senz3d_sensor_with_ros_indigo.txt · Last modified: 2015/09/18 20:51 by arwillis