freenect_launch vs openni_launch recommendations for kinect

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Hi everyone,

I'm struggling with those nodes for connecting to my kinect. The thing is, I tried several ways to have the most stable data transmission between rgb and depth sensors through ros without sucess. I mean, I got good results when I mapped a close indoor room, but always getting some kind of error for openni and freenect I never understood and which sometimes get solved by restarting my laptop. For example, when I was using freenect_launch everything seemed work fine most of time, but I noticed every time I used that group of nodes, more common I got camera/camera_nodelet_manager errors, or such as [camera/driver-2] escalating to SIGTERM | [camera/camera_nodelet_manager] escalating to SIGTERM or a Sorry, the application nodelet has stopped unexpectedly (which turns out on a log file error at startup every time I turn on my laptop, fortunately I managed to erase those logging errors). Or the kinect device is not connected and turns out that I have to restart the laptop in order it recognizes kinect. I don't know what could be wrong with freenect_launch or if it's on my kinect or something I missed, but everything should work fine.

• I'm using kinect V1 model 1414, under ros-kinetic and obviously freenect-camera and openni-camera.
• on port USB 2.0 cause I know it has some tricky behavior with transfer rates.
• And supplied by the following ros document kinect supply

I'm working with depth sensor so I'm also using depthimage-to-laserscan package, with the following parameters I think should be fine:

          <!-- depth image to laser scan -->

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">

  <param name="scan_height" value="1"/>  
  <param name="output_frame_id" value="/$(arg camera)_depth_frame"/>
  <param name="range_min" value="0.45"/> 
  <!-- <param name="range_max" value="5.0"/> -->
  <param name="scan_time" value="0.1"/> 
  <remap from="image" to="$(arg camera)/$(arg depth)/image_raw"/>
  <remap from="scan" to="$(arg scan_topic)"/>

  <remap from="$(arg camera)/image" to="$(arg camera)/$(arg depth)/image_raw"/>
  <remap from="$(arg camera)/scan" to="$(arg scan_topic)"/>

</node>

Another common error I got like these. By the way everytime I started freenect_launch this message appeared at the end Stopping device RGB and Depth stream flush (after the typical calibrations warns, the ones that tell you haven't calibrate your camera), what does that mean? is it irrelevant?

Because of that, I started using openni_launch and I had the same issues that freenect_launch, but rarely. At first I started using that without OpenNi unstable nor SensorKinect, cause I didn't noticed that at the end from openni_camera documentation it was needed to have the kinect working properly. So I followed the steps from here and here which are practically the same, and managed installing those but unfortunately as a super user. I couldn't do that as a normal user cause it didn't let me.

After that, openni and freenect started getting worse and now I'm unable to launch correctly both of them. When I launch openni_launch I got this ... (more)