openni registration fails
I am trying to view a registered point cloud from OpenNI (from a kinect sensor) in rviz, but see no output at all.
I am using ROS Hydro (desktop-full version), with all packages updated to the latest available in the apt repositories on Linux Mint (as of a few days ago) and used the following to launch (in separate terminals):
$ roscore
$ roslaunch openni openni.launch
$ rosrun rviz rviz
I can view the unregistered point cloud with no problems at this point, but when I enable registration with rqt_reconfigure, the cloud immediately vanishes.
$ rosrun rqt_reconfigure rqt_reconfigure
After registration, rviz shows nothing (I have changed the topic in the pointcloud2 in rviz) and rostopic echo shows no output from /camera/depth_registered/points.
In the past, I have had this working on ROS Groovy (I mainly upgraded to Hydro because I wanted to use PCL 1.7).
The output from roswtf while openni.launch, rqt_reconfigure and rviz are running and the driver has been reconfigured to register point clouds:
No package or stack in context
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /camera/camera_nodelet_manager:
* /tf_static
* /rviz_1377174856421642605:
* /tf_static
WARNING The following nodes are unexpectedly connected:
* unknown (http://Angua-von-Uberwald:40408/)->/rosout (/rosout)
Asked by jake.anq on 2013-08-22 02:45:34 UTC
Comments
What version off Mint? There is a bug with the 32 bits version of ubuntu that makes this error, as soon as you enable the registration the point cloud is full of NaNs. Also check this: http://answers.ros.org/question/53706/registered-depth-image-is-black/?answer=74272#post-id-74272
Asked by jcc on 2013-08-22 13:13:12 UTC
I'm running 64 bit Mint. Also rosecho doesn't output anything at all, as opposed to outputting NaNs which seems like a different error to the one mentioned above. I'll try reinstalling from source though.
Asked by jake.anq on 2013-08-22 23:42:05 UTC
I've managed to come up with a temporary solution, using the version of openni and openni_launch that I had been using with Groovy. I'm still curious as to what might be causing the current version to break though.
Asked by jake.anq on 2013-08-23 16:52:03 UTC
Did you ever find out why it does not publish to tf_static?
Asked by Athoesen on 2014-01-07 08:23:01 UTC
No - I'm still using the previous version of openni as mentioned in my prev. comment. I haven't specifically looked for the cause of the problem though.
Asked by jake.anq on 2014-01-07 11:20:39 UTC