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Is (Non RGB) Xtion Pro Supported?

asked 2014-08-28 16:08:49 -0500

skyzorg gravatar image

updated 2014-09-11 10:42:08 -0500

Hi, I have an Xtion Pro Sensor (non 'Pro-Live' version, without RGB camera) and am trying to run:

roslaunch openni_launch openni.launch

It dies immediately with with 'Service Call Failed!' errors.

I'm running Hydro on Ubuntu 12.04. Before I start delving into messing with parameters, wondering if anyone has managed to get the non-rgb Xtion Pro depth camera running with the openni_camera package? Or is it simply not supported?

(I also have a the Pro-Live RGB version of the sensor and it works fine on the same system)

EDIT: The underlying problem was a symbol lookup error which I solved by updating my system. Now I'm running openni2_launch and the camera is recognized, but I'm getting this error on launch:

[ERROR] [1409344784.275581907]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888

and this error when I add a PointCloud2 pointing to /camera/depth/points in Rviz:

[ INFO] [1409345247.761731749]: Starting depth stream.
[ INFO] [1409345248.232848173]: using default calibration URL
[ INFO] [1409345248.233537814]: camera calibration URL: file:///home/skyzorg/.ros/camera_info/depth_PS1080_PrimeSense.yaml
[ INFO] [1409345248.234404179]: Unable to open camera calibration file [/home/skyzorg/.ros/camera_info/depth_PS1080_PrimeSense.yaml]
[ WARN] [1409345248.235351909]: Camera calibration file /home/skyzorg/.ros/camera_info/depth_PS1080_PrimeSense.yaml not found.
[ERROR] [1409345248.237372380]: Rectified topic '/camera/depth/image_rect_raw' requested but camera publishing '/camera/depth/camera_info' is uncalibrated

I can't find any easy parameter change fix in the openni2.launch file, do I actually have to calibrate the camera? My Xtion Pro Live RGBD camera gives the same calibration warnings but not the last error shown above

EDIT2: Couldn't get non RGB Xtion Pro working under Xubuntu 12.04 and Hyrdo, I may have been running into this bug, as the error messages match exactly:

But a fresh of install of Xubuntu 14.04 and ROS Indigo did the trick, openni2_launch just works, with default settings.

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answered 2014-08-29 08:19:59 -0500

paulbovbel gravatar image

There shouldn't be any issues using the Xtion Pro. Can you update your question with output from lsusb -v, and relevant parts of dmesg when you plug in the sensor, and when you start openni? Keep in mind that newer ASUS sensors work with openni2 packages instead of openni.

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Thanks! You've answered my basic compatibility question but I'm now I'm getting a calibration error, please see update to the question

skyzorg gravatar image skyzorg  ( 2014-08-29 16:06:58 -0500 )edit

I've only ever used the live version, and never had that issue, so I can't help you there. You could try running the calibration yourself and see if that helps.

paulbovbel gravatar image paulbovbel  ( 2014-09-02 11:16:00 -0500 )edit

oh and try disabling the rgb_processing argument in openni2_launch, see if that gets rid of your error.

paulbovbel gravatar image paulbovbel  ( 2014-09-02 11:18:37 -0500 )edit

tried everything short of actually calibrating in xubuntu 12.04 + hydro, nothing worked. BUT SUCCESS! >> after a fresh install of xubuntu 14.04 and ROS indigo, openni2_launch just works!

skyzorg gravatar image skyzorg  ( 2014-09-11 10:31:45 -0500 )edit

short of upgrading to Ubuntu 14.04 and Indigo (I am hoping to stay with Hydro on 12.04), has anyone found a solution?

joe.s gravatar image joe.s  ( 2016-02-04 23:01:34 -0500 )edit

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Asked: 2014-08-28 16:08:49 -0500

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Last updated: Sep 11 '14