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Cant see Kinect Data.

Hi, I am working on this project that involves using the Kinect for XBOX 360S with ROS.

I did all the steps mentioned in the ROS Tutorials to have Openni Installed and the Prime sense and other drivers. and when i go to Openni samples i see a output. But in ROS i do a roscore and in another terminal do a roslaunch opennilaunch openni.launch. And it loads with the regular calibration warnings and service already registered errors. Then in another terminal i open Rviz which gives a error /.rviz/displayconfig does not exist. And even though i accept the error and go ahead i see a black window which shows no output ,even if i do all tasks mentioned at the RVIZ Tutorials. Also i tried running "rosrun imageview imageview image:=/camera/rgb/image_color" and it shows up a blank window with no output. How do i resolve this and get ros to show my kinect data??

I need to run RGBDSLAM and use this kinect later.

I am on Ubuntu 12.04 and ROS-Fuerte.

Asked by preetham.hegde on 2013-03-07 02:49:02 UTC

Comments

Could you pls paste your openni window output? Or maybe try rostopic hz or echo to see whether there is some output.

Asked by tianb03 on 2013-03-07 04:28:59 UTC

Well when i launch the openni.launch it starts as usual except for the errors ¨Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]¨

Asked by preetham.hegde on 2013-03-07 05:01:39 UTC

You can use "rostopic hz /camera/rgb/image_color" to check whether anything is sent on that topic. Rviz may display nothing because you haven't told it to do so. Also check out, whether there is data on other topics, e.g. "rostopic hz /camera/depth_registered/image_rect"

Asked by Felix Endres on 2013-03-07 05:04:31 UTC

And when i run a rostopic it just says subscribed to the /camera/depth_registered/points and keeps blinking.

Asked by preetham.hegde on 2013-03-07 05:05:29 UTC

Ok. I checked and had the same symptoms as you for the topics you mention, but I get data at the rectified topics, e.g. /camera/depth_registered/image_rect. But .../points works for me.

Asked by Felix Endres on 2013-03-07 05:12:28 UTC

Even subscribing to the rectified topics just says subscribed and nothing more happens.

Asked by preetham.hegde on 2013-03-07 20:47:43 UTC

Then it's definitely the driver. Can you post its output in your question (and format it as code please)

Asked by Felix Endres on 2013-03-09 03:33:29 UTC

@Felix Endres : On running roswtf i get 17 Errors "Communication with /camera/depth/metric/ failed

Asked by preetham.hegde on 2013-03-12 02:49:59 UTC

And on running rxgraph i get a graph in which all paths are pointing an arrow towards/rosout.

Asked by preetham.hegde on 2013-03-12 02:50:22 UTC

Can you show me a screenshot of rxgraph while running openni.launch and rosrun image_view image_view image:=/camera/rgb/image_color. Please use the "quiet" option in rxgraph

Asked by Felix Endres on 2013-03-16 04:44:47 UTC

Answers

roslaunch openni_launch openni.launch 
... logging to /home/preetham/.ros/log/c54e85c6-8bb2-11e2-81d2-000c2972eac5/roslaunch-ubuntu-21982.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:47488/

SUMMARY
========

PARAMETERS
 * /camera/depth/rectify_depth/interpolation
 * /camera/depth_registered/rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_depth_registered/max_range
 * /camera/disparity_depth_registered/min_range
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/depth/
    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    points (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)
  /camera/rgb/
    debayer (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    camera_nodelet_manager (nodelet/nodelet)
  /camera/
    disparity_depth (nodelet/nodelet)
    disparity_depth_registered (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_depth_rgb (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /camera/ir/
    rectify_ir (nodelet/nodelet)
  /camera/depth_registered/
    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [21998]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c54e85c6-8bb2-11e2-81d2-000c2972eac5
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [22011]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera_nodelet_manager-2]: started with pid [22023]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/driver-3]: started with pid [22024]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/rgb/debayer-4]: started with pid [22038]
[ INFO] [1363161071.687625327]: Initializing nodelet with 1 worker threads.
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/rgb/rectify_mono-5]: started with pid [22086]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/rgb/rectify_color-6]: started with pid [22104]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/ir/rectify_ir-7]: started with pid [22119]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth/rectify_depth-8]: started with pid [22142]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth/metric_rect-9]: started with pid [22156]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth/metric-10]: started with pid [22214]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth/points-11]: started with pid [22270]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/register_depth_rgb-12]: started with pid [22286]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth_registered/rectify_depth-13]: started with pid [22307]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth_registered/metric_rect-14]: started with pid [22325]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/depth_registered/metric-15]: started with pid [22370]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/points_xyzrgb_depth_rgb-16]: started with pid [22411]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/disparity_depth-17]: started with pid [22433]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera/disparity_depth_registered-18]: started with pid [22454]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera_base_link-19]: started with pid [22489]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera_base_link1-20]: started with pid [22536]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera_base_link2-21]: started with pid [22553]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[camera_base_link3-22]: started with pid [22590]
[ERROR] [1363161074.479922524]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1363161074.485871249]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1363161074.491798790]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ INFO] [1363161075.910740041]: Number devices connected: 1
[ INFO] [1363161075.911411571]: 1. device on bus 001:12 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366915449107A'
[ INFO] [1363161075.912606485]: Searching for device with index = 1
[ INFO] [1363161075.994653704]: Opened 'Xbox NUI Camera' on bus 1:12 with serial number 'A00366915449107A'
[ INFO] [1363161076.018306271]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1363161076.018483274]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1363161076.029140140]: Camera calibration file /home/preetham/.ros/camera_info/rgb_A00366915449107A.yaml not found.
[ WARN] [1363161076.029327336]: Using default parameters for RGB camera calibration.
[ WARN] [1363161076.029434121]: Camera calibration file /home/preetham/.ros/camera_info/depth_A00366915449107A.yaml not found.
[ WARN] [1363161076.029526221]: Using default parameters for IR camera calibration.

Asked by preetham.hegde on 2013-03-12 21:52:56 UTC

Comments

@Felix Endres: Is this the output you were asking for?? Or is it a differnt one?? let me know which one u need exactly and i will post it. Sorry but i am new to ROS and this community and am getting things slowly.

Asked by preetham.hegde on 2013-03-12 21:54:42 UTC

Seems all good. I have no idea what's wrong.

Asked by Felix Endres on 2013-03-16 04:41:52 UTC

Have you tried in RVIZ to show the pointcloud ? (camera/depth/points or camera/depth_registered/points) ? Or try to show the depth/image_raw or depth_registered/image_raw in Rviz. Let me know the results.

Asked by Stephane.M on 2013-03-16 11:22:42 UTC

@Stephane.M : Yeah ive tried that. When i launch RViz i get a display_config not found error. But then i click OK and proceed and i configure as mentioned in the Rviz Tutorials in ROS. But they simply show a blank window. nothing displayed in it.

Asked by preetham.hegde on 2013-03-17 23:00:07 UTC

@Felix Endres: I followed this guide to install the drivers. Let me know if this was the right one or was there a different one?? Link: http://mitchtech.net/ubuntu-kinect-openni-primesense/

Asked by preetham.hegde on 2013-03-18 04:48:05 UTC

@Felix Endres: I would like to do a fresh Install of Ubuntu and then Kinect drivers & ROS. Could you give me a quick description on how to do it. Or a link of any good article you know on how to do it.

Asked by preetham.hegde on 2013-03-18 04:51:40 UTC

Install ubuntu. Then ROS. Then openni-* (all packages openni). Then download Nite 1.5.2... . Run the script uninstall first ! (very important). Then run the script install. I did installations multiple times following this way (Ubuntu >12.04, ROs Groovy). Should work for Fuerte also.

Asked by Stephane.M on 2013-03-18 21:57:24 UTC

@Stephane.M & @Felix Endres:- I did all the installs and it still is the same. I am guessing i am installing the wrong software. Can anybody guide me to the right link for the softwares. Here is the link to what i used:

Asked by preetham.hegde on 2013-03-20 23:51:36 UTC

OpenNI :- https://github.com/OpenNI/OpenNI/tree/unstable Sensor Kinect:- https://github.com/avin2/SensorKinect NITE:- Nite 1.5.2.21 for WIn64. Are these the right softwares?? I installed Ubuntu-> Then ROS-> Then OpenNI -> then Sensor Kinect-> then Nite.

Asked by preetham.hegde on 2013-03-20 23:55:02 UTC

Have you tried using the binary packaged drivers? I did the exact steps given on http://www.ros.org/wiki/rgbdslam#RGB-D_SLAM_for_.22Not-yet.22_ROS_Users and it worked for me twice. Are you using a virtual machine?

Asked by Felix Endres on 2013-03-25 11:37:27 UTC

@Felix Endres: I had tried with the binaries and they had failed. I removed ros totally and followed the steps that were mentioned at the link you posted and this time RGBD Installed perfect. The GUI Opened but i could see nothing. I pressed space and enter ,it said processing but nothing showed up.

Asked by preetham.hegde on 2013-03-26 02:41:03 UTC

I also tried opening RVIZ and it failed and even trying to access a single image did not show up anything. Help Needed Please.

Asked by preetham.hegde on 2013-03-26 02:42:20 UTC

Its not on VMware. This is on my HP Envy Notebook. Its a Dual Boot Ubuntu 12.04 and WIndows 8. And its USB 2.0.

Asked by preetham.hegde on 2013-03-26 02:45:32 UTC

Sorry then. Maybe you'll find help on the openni mailing list.

Asked by Felix Endres on 2013-03-26 10:59:47 UTC