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Xtion doesn't work on ROS indigo

asked 2015-03-27 21:00:19 -0600

kristpan gravatar image
roslaunch openni2_launch openni2.launch camera:=camera depth_registration:=true load_driver:=true publish_tf:=true

shows the following:

... logging to /home/krist/.ros/log/26516c56-d4e7-11e4-863b-bcee7b784f87/roslaunch-pan-hnu-2867.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://pan-hnu.local:41836/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/driver/auto_exposure: True
 * /camera/driver/auto_white_balance: True
 * /camera/driver/color_depth_synchronization: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: indigo
 * /rosversion: 1.11.10

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (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 [2879]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 26516c56-d4e7-11e4-863b-bcee7b784f87
process[rosout-1]: started with pid [2892]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [2895]
process[camera/driver-3]: started with pid [2896] 
process[camera/rectify_color-4]: started with pid [2897]
process[camera/depth_rectify_depth-5]: started with pid [2898]
process[camera/depth_metric_rect-6]: started with pid [2899]
process[camera/depth_metric-7]: started with pid [2900]
process[camera/depth_points-8]: started with pid [2901]
process[camera/register_depth_rgb-9]: started with pid [2902]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [2933]
process[camera_base_link-11]: started with pid [3014]
process[camera_base_link1-12]: started with pid [3041]
process[camera_base_link2-13]: started with pid [3067]
process[camera_base_link3-14]: started with pid [3082]
[ERROR] [1427504999.237676059]: Skipping XML Document "/opt/ros/indigo/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element.  This likely means  the XML is malformed or missing.
[ INFO] [1427504999.254993443]: Initializing nodelet with 4 worker threads.
[ INFO] [1427505000.433668375]: Device "1d27/0601@3/4" found.
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/depth_rectify_depth-5]: started with pid [5475]
process[camera/depth_metric_rect-6]: started with pid [5489]
process[camera/depth_metric-7]: started with pid [5503]
process[camera/depth_points-8]: started with pid [5517]
process[camera/depth_registered_rectify_depth-9]: started with pid [5531]
process[camera/points_xyzrgb_hw_registered-10]: started with pid [5545]
process[camera_base_link-11]: started with pid [5559]
process[camera_base_link1-12]: started with pid [5605]
process[camera_base_link2-13]: started with pid [5619]
process[camera_base_link3-14]: started with pid [5630]

As you can see above, the error occurs:

Skipping XML Document "/opt/ros/indigo/share/camera1394stereo/camera1394stereo_nodelet.xml" which had no Root Element.  This likely means  the XML is malformed or missing.

I cd to the directory and found no such file, so I downloaded the file from github and put it there.

setting /run_id to 4c371232-d4eb-11e4-82f8-bcee7b784f87
process[rosout-1]: started with pid [7709] 
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [7726]
[ INFO] [1427506779.632020419]: Initializing nodelet with 4 worker threads.
process[camera/driver-3]: started with pid [7747]
process[camera/rectify_color-4]: started with pid [7763]
[ INFO] [1427506779.706106656]: Device "1d27/0601@3/4" found.
Warning: USB events thread - failed to set priority. This might ...
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Comments

The camera1394stereo message likely has nothing to do with your openni2 problem.

joq gravatar imagejoq ( 2015-03-28 17:03:21 -0600 )edit

I don't know why these two packages are related, maybe it's because xtion has mutiple cameras.

kristpan gravatar imagekristpan ( 2015-03-29 07:10:25 -0600 )edit

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answered 2015-03-28 17:09:54 -0600

Humpelstilzchen gravatar image

My xtion/openni2 doesn't have /camera/rgb/image_color, does rostopic show this topic? Can you echo it? For rgb image the following works for me:

rosrun image_view image_view image:=/camera/rgb/image_raw
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Comments

yeah, i used rostopic to list all topics, I changed to another topic, but no image showed either.

kristpan gravatar imagekristpan ( 2015-03-29 07:09:08 -0600 )edit

Does rostopic echo work? Do the openni samples work as the same user?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2015-03-30 00:57:05 -0600 )edit

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Asked: 2015-03-27 21:00:19 -0600

Seen: 377 times

Last updated: Mar 28 '15