Openni launcher error

asked 2016-10-13 17:19:48 -0500

germanvargas1988 gravatar image

Kind greetings

I am attempting to configure a Kinect sensor with a Turtlebot 2 bundled with an Acer Aspire E 11 netbook (E3-111-C0QT). The netbook is running Ubuntu 14.04 LTS and ROS Indigo. I am following the instructions available here.

When running the openni launcher the following error comes up:

turtlebot@Aspire-E3-111:~$ roslaunch openni_launch openni.launch
... logging to /home/turtlebot/.ros/log/c2a92976-918e-11e6-a688-c0389650e81b/roslaunch-Aspire-E3-111-10908.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://172.17.44.248:43646/

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/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: 1.11.20

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)
    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)
    ir_rectify_ir (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_debayer (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
    rgb_rectify_mono (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://172.17.44.248:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [10929]
process[camera/driver-2]: started with pid [10930]
process[camera/rgb_debayer-3]: started with pid [10931]
process[camera/rgb_rectify_mono-4]: started with pid [10932]
process[camera/rgb_rectify_color-5]: started with pid [10939]
process[camera/ir_rectify_ir-6]: started with pid [10945]
process[camera/depth_rectify_depth-7]: started with pid [10960]
process[camera/depth_metric_rect-8]: started with pid [10970]
process[camera/depth_metric-9]: started with pid [10981]
process[camera/depth_points-10]: started with pid [10996]
process[camera/register_depth_rgb-11]: started with pid [11013]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [11028]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [11033]
process[camera/depth_registered_rectify_depth-14]: started with pid [11039]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [11041]
process[camera/depth_registered_hw_metric_rect-16]: started with pid [11050]
process[camera/depth_registered_metric-17]: started with pid [11058]
process[camera/disparity_depth-18]: started with pid [11069]
process[camera/disparity_registered_sw-19]: started with pid [11083]
process[camera/disparity_registered_hw-20]: started with pid [11086]
process[camera_base_link-21]: started with pid [11094]
process[camera_base_link1-22]: started with pid [11104]
process[camera_base_link2-23]: started with pid [11115]
process[camera_base_link3-24]: started with pid [11123]
[ INFO] [1476396289.959494874]: Initializing nodelet with 4 worker threads.
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
  what():  unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/binarydeb/ros-indigo-openni-camera-1.9.5/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:

Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!
Image: PrimeSense/SensorKinect/5.1.2.1: Failed to set USB interface!
Device: PrimeSense/SensorV2/5.1.0.41: The ...
(more)
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Comments

Did this turtlebot come with an Astra sensor?

tonybaltovski gravatar imagetonybaltovski ( 2016-10-14 12:13:16 -0500 )edit

No, the robot comes with the Asus Xtion, and the $TURTLEBOT_3D_SENSOR environment variable has been modified to Kinect, which is the sensor we will use in the other two turtlebots we acquired

germanvargas1988 gravatar imagegermanvargas1988 ( 2016-10-18 10:53:47 -0500 )edit