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Openni2 problem with registered depth points

asked 2014-05-09 06:14:04 -0600

abd_el_mon3em gravatar image

updated 2014-05-09 06:18:33 -0600


I have an Xtion depth camera attached to nao robot, and I try to get registered depth points from it but the topic almost publishes nothing (except one or two messages after long time), also I receive the following warnings:

Image messages received:      5
CameraInfo messages received: 22
Synchronized pairs:           0

Image messages received:      4
CameraInfo messages received: 22
Synchronized pairs:           0

Note: I run openni2 on the robot just to load the driver and to publish tf, and I run other openni2 on remote PC to do the processing.

Note: I have tried to subscribe to raw rgb image (rostopic hz /topic_name ) and it works correctly alone, and to subscribe to depth raw image and also it works correctly alone, but when I subscribe to both of them in parallel only one of the works.

Can anyone help me, I am new to ros and openni2 and these stuff.

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answered 2014-08-13 05:33:57 -0600

isura gravatar image

Ubuntu 14.04 - ROS Indigo

This is because the depth_registration option is not selected.

Start rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

Select the driver from the left side and activate the depth_registration option.

You should now be able to see the registered rgbd pointcloud in rviz.

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Asked: 2014-05-09 06:14:04 -0600

Seen: 1,173 times

Last updated: Aug 13 '14