Hi all,

I've recently been running a bridge (provided by Carnegie Mellon University) between a Windows machine and a Linux machine in order to get Kinect 2 visualization data on the Linux machine.

This works adequately as I am able to get depth, IR and RGB information from the Kinect published as topics. Running rostopic list, I get topics such as:

/head/kinect/k2depth/camerainfo

/head/kinect/k2_depth/image

and many more.

So far, I'd like to be able to convert my sensormsgs::image topics into point cloud 2 topics. I have seen that this can be done using depthimage_proc.

Following some tutorials, I wrote a launch file like so: <!-- Attempt at making a launch file to convert sensor_msgs image to pointcloud 2 type -->

<!-- Nodelet Manager -->
<node pkg="nodelet" type="nodelet" args="manager" name="image2pclmanager" output="screen"/>

    <!-- Conversion process -->
        <node pkg="nodelet" type="nodelet" name="cloudify"
        args="load depth_image_proc/point_cloud_xyz image2pclmanager --no-bond">

    <!-- Remapping process: INPUT -->
        <!-- camera_info (sensor_msgs/CameraInfo) -->
        <remap from="camera_info"   to="/head/kinect2/k2_depth/camera_info"/>

        <!-- image_rect (sensor_msgs/Image) -->
        <remap from="image_rect" to="/head/kinect2/k2_depth/image"/>

    <!-- Remapping process: OUTPUT -->
        <!-- points (sensor_msgs/PointCloud2) -->
</node>

(The last output part I did not need to remap, only added for convenience).

If my understanding is correct, depthimageproc provides nodelets allowing for subscribing to sensormsgs::image types, converts them to sensormsgs::PointCloud2 and publishes them under a topic named points.

However, when I try to see this PointCloud2 under rviz, I get an odd error: Topic is OK, points are OK but under transform, I get: Frame k2/depth_frame does not exist.

Does anyone have prior experience with this error or did I not write my launch file correctly?

Thank you!