# Revision history [back]

In an effort to be Thorough I've tried everything a couple of times. I'm able to see perfect output from the project

RGBD_preRelease_0021_osx

which ran in tech news a few weeks back. This is an OPENNI Project. While recognizing that it's precompiled and prepackaged, It at least lets me know that it's possible to get OpenNI on the MAC Lion.

That being said: I've not had time to get OpenNI installed directly from OpenNI. When I installed RGBD I wrongly assumed it was the same as Installing OpenNI... I'll work on that next.

That said: Unless I know the process Kevin Walchko is undertaking for the Kinect, I'm not sure if I will be able to port any work I do for OpenNI for the Xtron to ROS. Can I get more information about how to get OPENNI_Launch Ros packages running? Id like ROS to get to the point where it is LOOKING for openni to be there...

In reference to your Direction with the VirtualBox solution, I've confirmed that it doesnt work. I've switched Billboard to Points, and every other option in the drop down list. I get nothing. More to the point I've gotten this to work in Ubuntu running on Metal, and not in the VM. I recognize this might be something others have tried, and given up on. But I wouldnt mind trying more things to get it to work, if anyone has any suggestions.

Below is the output of my roslaunch openni_launch openni.launch output. It's worth noting that I connected the camera after running openni, THIS TIME... but not every time. I've tried connecting first as well.

ros@ros-VirtualBox:~$roslaunch openni_launch openni.launch ... logging to /home/ros/.ros/log/7c0eff3a-a4f9-11e1-b83d-080027a47124/roslaunch-ros-VirtualBox-1902.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://ros-VirtualBox:35053/ # 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) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found 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-1]: started with pid [1922] Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[camera/driver-2]: started with pid [1923] 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-3]: started with pid [1946] [ INFO] [1337792740.825414778]: 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-4]: started with pid [1987] 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-5]: started with pid [2005] 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-6]: started with pid [2023] 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-7]: started with pid [2043] 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-8]: started with pid [2065] 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-9]: started with pid [2087] 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-10]: started with pid [2126] 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-11]: started with pid [2175] 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-12]: started with pid [2196] 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-13]: started with pid [2213] 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-14]: started with pid [2247] 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-15]: started with pid [2284] 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-16]: started with pid [2304] 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-17]: started with pid [2328] [ INFO] [1337792743.388256105]: No devices connected.... waiting for devices to be connected 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-18]: started with pid [2372] Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[camera_base_link1-19]: started with pid [2389] Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[camera_base_link2-20]: started with pid [2425] Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[camera_base_link3-21]: started with pid [2454] [ERROR] [1337792744.798095619]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters] [ERROR] [1337792744.815538133]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters] [ INFO] [1337792746.398629189]: No devices connected.... waiting for devices to be connected [ INFO] [1337792750.692202784]: Number devices connected: 1 [ INFO] [1337792750.693009051]: 1. device on bus 001:02 is a PrimeSense Device (600) from PrimeSense (1d27) with serial id '' [ INFO] [1337792750.694709107]: Searching for device with index = 1 [ INFO] [1337792750.754927002]: Opened 'PrimeSense Device' on bus 1:2 with serial number '' [ INFO] [1337792750.835992938]: rgb_frame_id = '/camera_rgb_optical_frame' [ INFO] [1337792750.836304397]: depth_frame_id = '/camera_depth_optical_frame' [ WARN] [1337792750.847485474]: Camera calibration file /home/ros/.ros/camera_info/rgb.yaml not found. [ WARN] [1337792750.847689726]: Using default parameters for RGB camera calibration. [ WARN] [1337792750.847818684]: Camera calibration file /home/ros/.ros/camera_info/depth.yaml not found. [ WARN] [1337792750.848087378]: Using default parameters for IR camera calibration. Here is the output when it's connected before running the command. ros@ros-VirtualBox:~$ roslaunch openni_launch openni.launch ... logging to /home/ros/.ros/log/3d29025e-a4fc-11e1-b260-080027a47124/roslaunch-ros-VirtualBox-1875.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://ros-VirtualBox:46462/

# 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)

ROS_MASTER_URI=http://localhost:11311