Freenect for kinect on ROS hydro [closed]
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/14387... ), 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 ...
The question above cannot show all the result. The last sentence is [ INFO] [1396315873.822080213]: Stopping device RGB and Depth stream flush.
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
@pinocchio please use the code-formatting feature of the editor so your output is readable.
@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.
@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.
@pinocchio: why do you think the last info line is a problem?
@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.?
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.