I am working with the BeagleBone Black and Asus Xtion Pro Live.

(lsusb gives device ID 1d27:0600, exactly what I expect)

I have installed Ubuntu 12.04 (hard floating point edition for BeagleBoneBlack), and ROS Hydro. After installing all the prerequisites, I built the OpenNI and Sensor software packages. I can navigate to ~/OpenNI/Platform/Linux/Bin/Arm-Release, and run some of the samples, and they work fine. For example, running Sample-NiSimpleRead returns me distance at roughly 30Hz

However, when I try to roslaunch openni_launch, I get nothing. No error messages, no reports of problems connecting to USB. Just no data coming out. The cluster of nodes starts publishing a bunch of TF messages, and they seem to be what is desired. However, I get no other rostopics published.

I have tried to use Openni2 launch and camera, but they refuse to build because they say they can't find libopenni2 (even though I built and installed openni2.2 as well)

Here is what I get: ubuntu@ubuntu-armhf:~/catkin_ws$ roslaunch openni_launch openni.launch --screen ... logging to /home/ubuntu/.ros/log/2eca5c12-bd41-11e3-a675-c8a030a9e305/roslaunch-ubuntu-armhf-1039.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 (COMMENTED OUT DUE TO LOW KARMA)

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/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/ 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)

auto-starting new master process[master]: started with pid [1052] ROS_MASTER_URI=(COMMENTED OUT DUE TO LOW KARMA)

setting /run_id to 2eca5c12-bd41-11e3-a675-c8a030a9e305 process[rosout-1]: started with pid [1065] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [1077] process[camera/driver-3]: started with pid [1089] process[camera/debayer-4]: started with pid [1117] process[camera/rectify_mono-5]: started with pid [1131] Warning: USB events thread - failed to set priority. This might cause loss of data... process[camera/rectify_color-6]: started with pid [1146] process[camera/rectify_ir-7]: started with pid [1160] process[camera/depth_rectify_depth-8]: started with pid [1174] process[camera/depth_metric_rect-9]: started with pid [1188] process[camera/depth_metric-10]: started with pid [1202] process[camera/depth_points-11]: started with pid [1216] process[camera/register_depth_rgb-12]: started with pid [1230] process[camera/points_xyzrgb_sw_registered-13]: started with pid [1244] process[camera/depth_registered_rectify_depth-14]: started with pid [1258] process[camera/points_xyzrgb_hw_registered-15]: started with pid [1272] process[camera/disparity_depth-16]: started with pid [1286] process[camera/disparity_registered_sw-17]: started with pid [1300] process[camera/disparity_registered_hw-18]: started with pid [1314] process[camera_base_link-19]: started with pid [1328] process ... (more)