OpenNI2 with Kinect v1

asked 2017-03-06 13:30:32 -0600

femtogram gravatar image

Hi guys,

I know this might seem like a duplicate and the ros wiki says the kinect is not supported, but I used the OpenNI2-FreenectDriver and had success with NiViewer2 as well as sometimes with ROS.

The problem is that sometimes roslaunch openni2_launch openni2.launch works, while most of the time it gives me the following error:

┌┌(kota@kota-desktop)-(12:10pm-:-03/06)┌-¨-¨¨˙
└┌(data)┌¨˙roslaunch openni2_launch openni2.launch
... logging to /home/kota/.ros/log/e2541e38-0291-11e7-bd4e-64006a58bea8/roslaunch-kota-desktop-29242.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://kota-desktop:32950/

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: kinetic
* /rosversion: 1.12.6

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_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
/
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [29260]
process[camera/driver-2]: started with pid [29261]
process[camera/rgb_rectify_color-3]: started with pid [29262]
process[camera/depth_rectify_depth-4]: started with pid [29263]
process[camera/depth_metric_rect-5]: started with pid [29272]
process[camera/depth_metric-6]: started with pid [29286]
process[camera/depth_points-7]: started with pid [29300]
[ INFO] [1488821141.153037053]: Initializing nodelet with 4 worker threads.
process[camera/register_depth_rgb-8]: started with pid [29323]
process[camera/points_xyzrgb_sw_registered-9]: started with pid [29342]
process[camera/depth_registered_sw_metric_rect-10]: started with pid [29346]
process[camera_base_link-11]: started with pid [29360]
process[camera_base_link1-12]: started with pid [29376]
process[camera_base_link2-13]: started with pid [29392]
process[camera_base_link3-14]: started with pid [29409]
OpenNI2-FreenectDriver: Using libfreenect v0.5.5
OpenNI2-FreenectDriver: Found device freenect://0
[ INFO] [1488821142.943549346]: Device "freenect://0" found.
OpenNI2-FreenectDriver: Opening device freenect://0
[ERROR] [1488821143.690497721]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16
[Stream 80] Negotiated packet size 1920
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
write_register: 0x0005 <= 0x01
write_register: 0x0047 <= 0x00
[Stream 70] Negotiated packet size 1920
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
read_cmos_register: 0x0106 => 0x648e
write_cmos_register: 0x0106 <= 0x648e
[ERROR] [1488821145.740494035]: Could not set auto exposure. Reason: void openni2_wrapper::OpenNI2Device::setAutoExposure(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 534 : Couldn't set auto exposure:
        Stream setProperty(101) failed



read_cmos_register: 0x0106 => 0x648e
write_cmos_register: 0x0106 <= 0x648e
[ERROR] [1488821145.748960801]: Could not set auto white balance. Reason: void openni2_wrapper::OpenNI2Device::setAutoWhiteBalance(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 550 : Couldn't set auto white balance:
        Stream setProperty(100) failed



[FATAL] [1488821145.881735575]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1488821145.881735671]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc ...
(more)
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