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Freenect for kinect on ROS hydro

Hi, guys, I am new to use kinect as well as ubuntu and ros. As there is no registered data from OpenNI (shown in http://answers.ros.org/question/143871/no-register-data-from-kinect/?comment=145161#comment-145161), I try freenect to read kinect following http://wiki.ros.org/freenect_stack and http://wiki.ros.org/freenect_launch. It can be installed successfully, but when roslaunch, there are several warnings. I know the warning of calibrated file is due to no calibration. But what about the "compatible depth output mode"? It also says [ INFO] [1396313592.698301755]: Stopping device RGB and Depth stream flush. I have no idea on it. My system is ubuntu 12.10 and ROS hydro. The result of roslaunch freenect_launch freenect.launch is listed below.

rical@rical-CF-19RHRAX1M:~$ roslaunch freenect_launch freenect.launch
... logging to /home/rical/.ros/log/da60d6ca-b920-11e3-b282-58946b7e05e0/roslaunch-rical-CF-19RHRAX1M-3804.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://rical-CF-19RHRAX1M:48543/

SUMMARY

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads
 * /camera/depth_rectify_depth/interpolation
 * /camera/depth_registered_rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_registered_hw/max_range
 * /camera/disparity_registered_hw/min_range
 * /camera/disparity_registered_sw/max_range
 * /camera/disparity_registered_sw/min_range
 * /camera/driver/data_skip
 * /camera/driver/debug
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/diagnostics_max_frequency
 * /camera/driver/diagnostics_min_frequency
 * /camera/driver/diagnostics_tolerance
 * /camera/driver/diagnostics_window_time
 * /camera/driver/enable_depth_diagnostics
 * /camera/driver/enable_ir_diagnostics
 * /camera/driver/enable_rgb_diagnostics
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    debayer (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_registered_hw (nodelet/nodelet)
    disparity_registered_sw (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_ir (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
    register_depth_rgb (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)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [3822]
process[camera/driver-2]: started with pid [3823]
process[camera/debayer-3]: started with pid [3824]
process[camera/rectify_mono-4]: started with pid [3825]
process[camera/rectify_color-5]: started with pid [3868]
process[camera/rectify_ir-6]: started with pid [3921]
process[camera/depth_rectify_depth-7]: started with pid [3957]
[ INFO] [1396313584.419880012]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-8]: started with pid [4031]
process[camera/depth_metric-9]: started with pid [4049]
process[camera/depth_points-10]: started with pid [4063]
process[camera/register_depth_rgb-11]: started with pid [4077]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [4091]
process[camera/depth_registered_rectify_depth-13]: started with pid [4105]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [4119]
process[camera/disparity_depth-15]: started with pid [4133]
process[camera/disparity_registered_sw-16]: started with pid [4151]
process[camera/disparity_registered_hw-17]: started with pid [4178]
process[camera_base_link-18]: started with pid [4192]
process[camera_base_link1-19]: started with pid [4193]
process[camera_base_link2-20]: started with pid [4194]
process[camera_base_link3-21]: started with pid [4195]

[ INFO] [1396313589.600032613]: Number devices connected: 1
[ INFO] [1396313589.600544443]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361901462111A'
[ INFO] [1396313589.602479901]: Searching for device with index = 1
[ INFO] [1396313589.697190243]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1396313589.698071770]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00361901462111A'
[ WARN] [1396313589.934913658]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1396313590.338304709]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1396313590.338537906]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1396313590.368927609]: Camera calibration file /home/rical/.ros/camera_info/rgb_A00361901462111A.yaml not found.
[ WARN] [1396313590.369212794]: Using default parameters for RGB camera calibration.
[ WARN] [1396313590.369367832]: Camera calibration file /home/rical/.ros/camera_info/depth_A00361901462111A.yaml not found.
[ WARN] [1396313590.369494426]: Using default parameters for IR camera calibration.

[ INFO] [1396313592.698301755]: Stopping device RGB and Depth stream flush.

Asked by pinocchio on 2014-03-31 15:07:57 UTC

Comments

The question above cannot show all the result. The last sentence is

[ INFO] [1396315873.822080213]: Stopping device RGB and Depth stream flush.

Asked by pinocchio on 2014-03-31 15:34:49 UTC

What's the problem there ? Are all th topic published at the end ? I used openni2 usually and after the launch the camera send info only if I request it so... Did you try an image_view on a image topic to see if it's working ? I wan't see any problem there

Asked by Maya on 2014-04-02 02:32:22 UTC

@pinocchio please use the code-formatting feature of the editor so your output is readable.

Asked by demmeln on 2014-04-02 02:56:21 UTC

@demmeln thank you. I would like to use code formate, but I do not know how to use it. @Maya You see in the last line of the result, it says "[ INFO] [1396313592.698301755]: Stopping device RGB and Depth stream flush." I can show the image though.

Asked by pinocchio on 2014-04-02 04:22:53 UTC

@pinocchio: In the editor, select the text you want to format as code or output and then hit the button with the 0 and 1 in the edit bar. It indents all your text by 4 spaces, which is the formatting rule for code blocks in markdown.

Asked by demmeln on 2014-04-02 04:52:35 UTC

@pinocchio: why do you think the last info line is a problem?

Asked by demmeln on 2014-04-02 04:54:43 UTC

@demmeln Hi, I am not sure, but when I use openni.launch, there is no this line. Could you please tell me what does it mean? Also, do you know this warning, [ WARN] [1396313589.934913658]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.?

Asked by pinocchio on 2014-04-02 04:59:09 UTC

I have no clue what it means, but since it is a different driver, it is not surprising to have different output. It is an INFO and not a warning after all. If it publishes images, it seems to work. Maybe someone else knows more, or have a look in the code to find out what it means.

Asked by demmeln on 2014-04-02 05:07:42 UTC

Same goes for the WARN] [1396313589.934913658]: Could not find any compatible depth output mode for 1 warning

Asked by demmeln on 2014-04-02 05:08:14 UTC

Thank you @demmeln

Asked by pinocchio on 2014-04-02 05:12:30 UTC

Hi I have exactly the same warning and info saying stoppind device ... Every topic seems to be publish. Except that all the ones unde the depth_registered namespace are empty...

Asked by marguedas on 2015-04-02 16:11:27 UTC

Wow. No answers to these errors yet? I'm trying to get this to work with rtabmap_ros.launch and it seems taht the issue is, in fact, that the freenect drivers dont seem to get depth correctly. This is really strange since the standalone rtabmap utility works completely fine.

Asked by ThaHypnotoad on 2015-04-17 02:08:27 UTC

Answers