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Asus XTion Pro Live on embedded Linux using OpenNI2?

asked 2014-10-22 01:49:26 -0500

Myzhar gravatar image

updated 2014-10-22 08:42:33 -0500

Hi, I'm going to use Asus XTion Pro Live (0601) on my robot running ROS Indigo on a NVidia Jetson TK1, but I have problems receiving data from the sensor. I installed openni2_launch and run it, the sensor is correctly recognized, but no data messages (both RGB and 3D) are generated. I tried it on both USB 2.0 and USB3.0 ports, on the first it is not detected, on the second it is detected, but it does not send data.

Any idea?

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answered 2014-10-22 11:50:04 -0500

Hansg91 gravatar image

I usually find it worthwhile to compile OpenNI2 myself. For some reason I seem to be experiencing problems using the precompiled versions. It could be worth a shot at least..

Also it is worth a shot to try the samples of OpenNI2. In case you don't have a graphical interface, I believe SimpleRead doesn't open a window and just outputs some data from the camera. Then you know at least that it is connected and functional.

ps. I am running OpenNI2 with the Xtion on an Odroid U2 so I am pretty sure it should work on the Jetson TK1.

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If you have trouble with the precompiled OpenNI2 binaries, PLEASE let me know. If you're having trouble, someone else probably is as well, and I can't fix things if I don't know that they're broken.

ahendrix gravatar image ahendrix  ( 2014-10-22 12:53:57 -0500 )edit

Just to clarify, these are the OpenNI2 libraries, not the openni2 package from ROS. In addition, it was a long time ago, but I believe I had the same problem as @Myzhar, it just wouldn't find the Xtion.

Hansg91 gravatar image Hansg91  ( 2014-10-22 13:48:01 -0500 )edit

I tune and build a significant number of the dependencies for the ARM builds by hand, including OpenNI and OpenNI2.

ahendrix gravatar image ahendrix  ( 2014-10-22 13:59:58 -0500 )edit

I tried only the version of OpenNI2 coming from the repository together with openni2_lauch.

Now I would like to remove this OpenNI2 version and to compile it by myself, but I do not know two things: 1) how to remove the package and its dependencies 2) how to for ROS to use my OpenNI2 Any reference?

Myzhar gravatar image Myzhar  ( 2014-10-23 01:49:40 -0500 )edit

I think that before recompiling I will try the precompiled version of OpenNI2 from . My problem remains the same... see (1) and (2) from my last comment ;-)

Myzhar gravatar image Myzhar  ( 2014-10-23 01:51:57 -0500 )edit

@ahendrix I downloaded OpenNI2 source code from git and compiled it following this guide: I tried "SimpleRead" example, but I cannot find the sensor. So I tried running "rqt" and I can see RGB and Depth, but not the msg pointcloud2

Myzhar gravatar image Myzhar  ( 2014-10-23 16:13:20 -0500 )edit

@ahendrix, next time I run into this issue I will post something to let you know

Hansg91 gravatar image Hansg91  ( 2014-10-24 08:32:02 -0500 )edit

answered 2015-01-08 02:39:15 -0500

Myzhar gravatar image

I finally succeded compiling and installing OpenNI2 to my NVidia Jetson TK1. I published the guide to the website of my robotic project:

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answered 2014-10-22 08:39:15 -0500

paulbovbel gravatar image

updated 2014-10-22 08:39:30 -0500

How are you reading/subscribing to the data?

Are there any error or warning messages from openni2 while you're doing this?

What about in the kernel buffer (dmesg)?

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I just tried to subscribe to messages using rviz. Using USB3.0 port there are not errore messages or warning on the output of the node.

I did not verify "dmesg", I will try and I will let you know.

I read somewhere that XTion has a few parameters to be tuned (e.g. hw synchronization), am I wrong?

Myzhar gravatar image Myzhar  ( 2014-10-22 08:45:22 -0500 )edit

Additional parameters - not from my experience. Maybe the usb interface, depending on your hardware.

paulbovbel gravatar image paulbovbel  ( 2014-10-22 08:55:29 -0500 )edit

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Asked: 2014-10-22 01:49:26 -0500

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Last updated: Jan 08 '15