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ASUS Xtion Pro Live is not detected by openni_launch in ROS Indigo

asked 2016-01-18 08:15:23 -0500

vladimir_robofit gravatar image

updated 2016-01-19 08:34:57 -0500

Hello! When I plug-in ASUS Xtion Pro Live to my computer and run openni_launch I see following:

... logging to /home/vladimir/.ros/log/78148552-be96-11e5-ae5f-74d435f46c5e/roslaunch-vladimir-H97-D3H-2475.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://vladimir-H97-D3H:41432/


 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/disparity_depth/max_range: 4.0
 * /camera/disparity_depth/min_range: 0.5
 * /camera/disparity_registered_hw/max_range: 4.0
 * /camera/disparity_registered_hw/min_range: 0.5
 * /camera/disparity_registered_sw/max_range: 4.0
 * /camera/disparity_registered_sw/min_range: 0.5
 * /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: 1.11.16

    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_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (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)


core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [2493]
process[camera/driver-2]: started with pid [2494]
process[camera/debayer-3]: started with pid [2495]
process[camera/rectify_mono-4]: started with pid [2496]
process[camera/rectify_color-5]: started with pid [2497]
process[camera/rectify_ir-6]: started with pid [2498]
process[camera/depth_rectify_depth-7]: started with pid [2499]
process[camera/depth_metric_rect-8]: started with pid [2500]
process[camera/depth_metric-9]: started with pid [2501]
process[camera/depth_points-10]: started with pid [2502]
process[camera/register_depth_rgb-11]: started with pid [2503]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [2504]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [2505]
process[camera/depth_registered_rectify_depth-14]: started with pid [2506]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [2507]
process[camera/depth_registered_hw_metric_rect-16]: started with pid [2508]
process[camera/depth_registered_metric-17]: started with pid [2509]
process[camera/disparity_depth-18]: started with pid [2510]
process[camera/disparity_registered_sw-19]: started with pid [2511]
process[camera/disparity_registered_hw-20]: started with pid [2512]
process[camera_base_link-21]: started with pid [2602]
process[camera_base_link1-22]: started with pid [2626]
process[camera_base_link2-23]: started with pid [2631]
process[camera_base_link3-24]: started with pid [2634]
[ INFO] [1453198954.973950381]: Initializing nodelet with 4 worker threads.
[ INFO] [1453198956.744221872]: No devices connected.... waiting for devices to be connected

The lsusb command listed ASUS sensor. I have Ubuntu 14.04 and ROS Indigo on my computer. Did anybody faced into such a problem?

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Please post the full terminal output, there is not enough information in what you pasted.

Javier V. Gómez gravatar image Javier V. Gómez  ( 2016-01-18 12:13:36 -0500 )edit

I hope anyone saw this problem. openni_launch should support Xtion PRO.

vladimir_robofit gravatar image vladimir_robofit  ( 2016-01-20 07:18:11 -0500 )edit

Check out this answer for tips on how I get the ASUS working. Specifically, check out the permissions and the editing of /etc/openni/GlobalDefaults.ini

jarvisschultz gravatar image jarvisschultz  ( 2016-01-25 07:55:36 -0500 )edit

2 Answers

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answered 2016-01-25 06:03:34 -0500

YingHua gravatar image

Would you post your log and steps? I don't know how to help you with not enough information...

But I make some note about xtion with ROS in my blog but in Chinese. (click me to blog)

For asus xtion, you need to install openni2.

sudo apt-get install ros-indigo-openni2-camera ros-indigo-openni2-launch

and then do these steps to show image


roslaunch  openni2_launch  openni2.launch

rosrun rviz rviz

you may meet some error when rviz open. Just change the "fixed frame" can fix it.

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answered 2016-01-25 06:08:39 -0500

Akif gravatar image

There may be a permission problem, so you can check device permissions.

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Asked: 2016-01-18 08:15:23 -0500

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Last updated: Jan 25 '16