Well, installing an older Ubuntu distribution ended up being a bust. The older distro would not boot, so we decided to reinstall the latest revision (r7) of 11.10 for ARM. Once again, we've set the BeagleBoard up again, compiled everything, and are ready to test the Kinect. However, we've been to busy actually making progress to do this.
We define "actually making progress" like this:
Since our last post, we've begun development on a laptop running 32-bit Ubuntu 10.04 with the latest version of OpenNI (unstable), manctl SensorKinect (unstable), and the NITE middleware (unstable). This configuration worked perfectly, first try. Using the NiSimpleSkeleton sample as a launchpad, we were able to use the joint positions detected by OpenNI to calculate the joint angles we wanted. We are also able to serialize an array containing our calculated joint angles, then wirelessly transmit this information to the robot, where the data is deserialized.
Our plan is to reach our baseline goal of basic mimicry (shadowing arm/shoulder movement) and basic walking control by TONIGHT. We leave tomorrow at 5:30 am for the Robocup US Open in Portland, Maine.
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