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Thanks all,

for the time being, I can confirm that it's possible to use Kinect with ROS on a BeagleBoard-xM. As I'm not experienced in the embedded world, I took the easiest way for me and used Nizar's advice to change set (ROS_BUILD_TYPE RelWithDebInfo) to set (ROS_BUILD_TYPE Release) in the CMakefile. It took 3 hours to build this directly on the BB and I also had to turn swap on (which is not healthy for a flash memory), but it worked. I've been able to use dynamic_reconfigure over WiFi and changed to QQVGA@30Hz and then to subscribe to /camera/depth/points2 locally (rostopic hz showed 4,5Hz).

I still wasn't able to use rviz nor even subscribe to a topic on my PC over a WiFi, but this must be an issue with my USB-dongle's drivers.

Do you have any hints on how I can minimize processor's load even more? Basically I'd like my BeagleBoard to work as a Kinect WiFi interface for now. I guess it's possible to switch do UDP, would it be wise in my case?

Naturally I'll work on cross-compiling as soon as I get this one last issue rolling. I'll post this as an answer on answers.ros.org as well

Any suggestions welcome, Tom.

Thanks all,

for the time being, I can confirm that it's possible to use Kinect with ROS on a BeagleBoard-xM. As I'm not experienced in the embedded world, I took the easiest way for me and used Nizar's advice to change set (ROS_BUILD_TYPE RelWithDebInfo) to set (ROS_BUILD_TYPE Release) in the CMakefile. It took 3 hours to build this directly on the BB and I also had to turn swap on (which is not healthy for a flash memory), but it worked. I've been able to use dynamic_reconfigure over WiFi and changed to QQVGA@30Hz and then to subscribe to /camera/depth/points2 locally (rostopic hz showed 4,5Hz).

I still wasn't able to use rviz nor even subscribe to a topic on my PC over a WiFi, but this must be an issue with my USB-dongle's drivers.

Do you have any hints on how I can minimize processor's load even more? Basically I'd like my BeagleBoard to work as a Kinect WiFi interface for now. I guess it's possible to switch do UDP, would it be wise in my case?

Naturally I'll work on cross-compiling as soon as I get this one last issue rolling. I'll post this as an answer on answers.ros.org as wellrolling.

Any suggestions welcome, Tom.