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My environment is Ubuntu12.04, ros indigo. "http://learn.turtlebot.com" was followed by me, but when i run
roslaunch openni_launch openni.launch
the logs of terminal show
[ INFO] [1463638647.225005146]: No devices connected.... waiting for devices to be connected
It hits me with long time, help me!
openni_kinect is deprecated, you should use freenect_stack instead from here
sudo apt-get install ros-indigo-freenect-stack
And make sure the Kinect is connected, and if you are using Kinect V2, it should be connected to Intel USB3.0 port.
Once you install it, you need to start publishing the kinect camera topics by running the freenect_launch file:
roslaunch freenect_launch freenect.launch
Then open another shell to visualize the rgb image or any other topic:
rosrun image_view image_view image:=/camera/rgb/image_color
@ROSkinect, Yes, freenect_launch already working. But no devices connected.... waiting for devices to be connected. I'm sure that i connect Kinect2 with my computer, typing lsusb, 3 Microsoft Corp had arised.
@K7,The same problem still appears in my terminal. There is messages in detial. When i type lsusb into the terminal, the messages shows following:
$ lsusb
Bus 002 Device 002: ID 8087:8000 Intel Corp.
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 002: ID 8087:8008 Intel Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 003: ID 045e:02c4 Microsoft Corp.
Bus 004 Device 002: ID 045e:02d9 Microsoft Corp.
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 004: ID 046d:c52f Logitech, Inc. Unifying Receiver
Bus 003 Device 007: ID 04d9:1503 Holtek Semiconductor, Inc. Shortboard Lefty
Bus 003 Device 002: ID 045e:02d9 Microsoft Corp.
Bus 003 Device 008: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
then i tried:
$ roslaunch freenect_launch freenect.launch depth_registration:=true
... logging to /home/turtlebot/.ros/log/06249706-2549-11e6-a74b-fcaa14dfa0b1/roslaunch-turtlebot-M4HM87P-00-17646.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://localhost:54035/
SUMMARY
========
PARAMETERS
* /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/data_skip: 0
* /camera/driver/debug: False
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: True
* /camera/driver/device_id: #1
* /camera/driver/diagnostics_max_frequency: 30.0
* /camera/driver/diagnostics_min_frequency: 30.0
* /camera/driver/diagnostics_tolerance: 0.05
* /camera/driver/diagnostics_window_time: 5.0
* /camera/driver/enable_depth_diagnostics: False
* /camera/driver/enable_ir_diagnostics: False
* /camera/driver/enable_rgb_diagnostics: False
* /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)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (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)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [17664]
[ INFO] [1464491179.502564627]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [17685]
process[camera/debayer-3]: started with pid [17701]
process[camera/rectify_mono-4]: started with pid [17718]
process[camera/rectify_color-5]: started with pid [17732]
process[camera/rectify_ir-6]: started with pid [17754]
process[camera/depth_rectify_depth-7]: started with pid [17780]
process[camera/depth_metric_rect-8]: started with pid [17800]
[ INFO] [1464491179.859241746]: No devices connected.... waiting for devices to be connected
process[camera/depth_metric-9]: started with pid [17834]
process[camera/depth_points-10]: started with pid [17922]
process[camera/register_depth_rgb-11]: started with pid [17951]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [17980]
process ...Looks like it might be there although it is strange that they do not say camera or audio after Microsoft Corp. I have not used the Kinect 2. It could be another device (like a mouse).
Are you sure freenect is not publishing any topics? Type $ rostopic list (after running freenect)
When I run "roslaunch freenect_launch freenect.launch depth_registration:=true", the error, [ INFO] [1464504903.449033967]: No devices connected.... waiting for devices to be connected, appears again.After typing rostopic list , i see truly many topics under /camera.
What do you see when you type lsusb into the terminal? You should see 3 Microsoft Corp devices in the list (Kinect v1):
Microsoft Corp. Xbox NUI Camera
Microsoft Corp. Xbox NUI Motor
Microsoft Corp. Xbox NUI Audio
If it is there then try: $ roslaunch freenect_launch freenect.launch depth_registration:=true
Not sure with Kinect v2. But have a look here: https://github.com/code-iai/iai_kinect2
@K7 I only have Microsoft Corp. Xbox NUI Motor listed for Kinect XBOX 360. I searched all over web for solution, unsuccessfully. Could you maybe provide some insight? When I plug it in other PCs I have all 3 devices listed. Could it be that something is conflicting with it on Ubuntu 16.04?
Tnx
Asked: 2016-05-27 23:18:48 -0500
Seen: 9,297 times
Last updated: Apr 28 '17
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