So I want to use fovis_ros to do visual odometry on my test robot.

Here's my launchfile:

<launch>
<arg name="camera" default="camera" />
<include file="$(find freenect_launch)/launch/freenect.launch" />
<node pkg="nodelet" type="nodelet" args="manager" name="nodelet_manager" />

<node pkg="fovis_ros" type="fovis_mono_depth_odometer" name="kinect_odometer">
    <remap from="/camera/rgb/image_rect" to="$(arg camera)/rgb/image_rect_mono" />
    <remap from="/camera/rgb/camera_info" to="$(arg camera)/rgb/camera_info" />
    <remap from="/camera/depth_registered/camera_info" to="camera/depth_registered/sw_registered/camera_info" />
    <remap from="/camera/depth_registered/image_rect" to="camera/depth_registered/image_rect" />
    <param name="approximate_sync" type="bool" value="True" />
</node>

I get depth information, but I don't get any info on the connect odometry topic. If I were to hook it up to my robot description and the joint_state_publisher, is that what I need to get the odometry working?

UPDATE

It did not work. I've tried using openni instead of freenect, but openni.launch never picks up the kinect:

So no dice when using my standard launchfiles. When I try the fovis_ros launch with openni, the kinect never registers.

[ INFO] [1418883183.707266521]: No devices connected.... waiting for devices to be connected

[ INFO] [1418883186.707500746]: No devices connected.... waiting for devices to be

According to the wiki page, it needs:

1. transforms from the baselink to the cameralink, (check, in the robot launch file)
2. /camera/rgb/image_rect
3. /camera/depthregistered/imagerect
4. /camera_info

In the example file, they also do a depthimageproc conversion to meters from mm, so I assume they need this as well?