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openni_launch works only the first time

asked 2012-07-18 00:18:21 -0600

rastaxe gravatar image

updated 2016-10-24 09:02:11 -0600

ngrennan gravatar image

I am using fuerte on Ubuntu 12.04 with a Kinect. I have noted that openni_launch works only the first time. When it works, on the terminal I have:

roslaunch openni_launch openni.launch  
[...]   
[ INFO] [1342603480.398058817]: Initializing nodelet with 6 worker threads.  
[ERROR] [1342603484.926529464]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]  
[ERROR] [1342603484.943879879]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]  
[ INFO] [1342603487.444944913]: Number devices connected: 1  
[ INFO] [1342603487.445153962]: 1. device on bus 002:06 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00364A09534141A'  
[ INFO] [1342603487.446153737]: Searching for device with index = 1  
[ INFO] [1342603487.520744291]: Opened 'Xbox NUI Camera' on bus 2:6 with serial number 'A00364A09534141A'  
[ INFO] [1342603487.556152646]: rgb_frame_id = '/camera_rgb_optical_frame'   
[ INFO] [1342603487.556216539]: depth_frame_id= '/camera_depth_optical_frame'   
[ WARN] [1342603487.563057732]: Camera calibration file /home/ale/.ros/camera_info/rgb_A00364A09534141A.yaml not found.  
[ WARN] [1342603487.563112210]: Using default parameters for RGB camera calibration.  [ WARN] [1342603487.563158568]: Camera calibration file /home/ale/.ros/camera_info/depth_A00364A09534141A.yaml not found.  
[ WARN] [1342603487.563200355]: Using default parameters for IR camera calibration.

Despite the errors it works. If I close the program and I restart openni_launch, I have:

[...]

[ERROR] [1342602671.015884628]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]                       
[ERROR] [1342602671.031949234]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]                       
[ INFO] [1342602678.285143378]: Number devices connected: 1           
[ INFO] [1342602678.285292312]: 1. device on bus 002:11 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00364A09534141A'     
[ INFO] [1342602678.286667631]: Searching for device with index = 1 
nodelet: /usr/include/boost/smart_ptr/shared_ptr.hpp:412: boost::shared_ptr<T>::reference boost::shared_ptr<T>::operator*() const [with T = xn::NodeInfo, boost::shared_ptr<T>::reference = xn::NodeInfo&]: Assertion `px != 0' failed.              
[camera_nodelet_manager-2] process has died [pid 14263, exit code -6, cmd /opt/ros /fuerte/stacks/nodelet_core/nodelet/bin/nodelet manager __name:=camera_nodelet_manager __log:=/home/ale/.ros/log/8292bcc6-d0b8-11e1-b766-c860005fdc27/camera_nodelet_manager-2.log].
log file: /home/ale/.ros/log/8292bcc6-d0b8-11e1-b766-c860005fdc27/camera_nodelet_manager-2*.log

The line "Initializing nodelet with 6 worker threads." is missing and the program crashes. In this case, if I use some programs from libfreenect such as "cppview" or "tiltdemo", kinect works. The only thing that I can do to reuse openni is to restart the pc! Maybe it is a sort of ros initialization problem, I do not know. I noted also that the first time, openni_launch takes some seconds more to start up, it waits a little bit more on the line:

*Checking log directory for disk usage. This may take awhile.                 
Press Ctrl-C to interrupt*

Someone can help me?

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Comments

Sounds like the driver is getting hung and not shutting down. Can you tell if that node is still running after the first invocation?

joq gravatar imagejoq ( 2012-07-18 03:55:25 -0600 )edit

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answered 2012-07-18 22:55:53 -0600

rastaxe gravatar image

Ok, I found the problem. It seems that openni does not shut down properly. The XnSensorServer program still runs. If I kill the process then openni opens Kinect properly. I found other posts about that on pcl and openNI forum, so I think that it would be useful to add this tip to the wiki. Thanks joq for the suggestion.

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Comments

1

Here's a ticket to keep track of this: https://kforge.ros.org/openni/trac/ticket/55

jbohren gravatar imagejbohren ( 2012-07-23 06:15:44 -0600 )edit
1

Hack attached to ticket

I Heart Robotics gravatar imageI Heart Robotics ( 2012-08-14 20:20:57 -0600 )edit
1

And here's another hack, that you can add to a kinect launchfile: https://bitbucket.org/jbohren/xnsensorserver-hack/src

jbohren gravatar imagejbohren ( 2012-08-14 20:57:07 -0600 )edit

There are quite a few other threads discussing this same issue in case that helps the ticket: threadA and threadB

tbh gravatar imagetbh ( 2012-10-11 07:30:18 -0600 )edit
1

answered 2012-10-11 03:54:16 -0600

kleinash gravatar image

updated 2015-01-30 03:05:08 -0600

The only answer I found that worked for this was to run:

killall -s 9 XnSensorServer

before you rerun the openni_launch - this still does not solve all the other warnings but it does help not having to restart your entire system to get it running again..

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answered 2012-10-11 08:52:43 -0600

jkammerl gravatar image

One workaround to this proble is to downgrade openni and the sensor drivers. Have a look at Jochen's launchpad. His openni debians do work under precise.

https://launchpad.net/~v-launchpad-jochen-sprickerhof-de

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or upgrade.. I found this error went away with hydro..

kleinash gravatar imagekleinash ( 2014-06-02 08:28:02 -0600 )edit

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Asked: 2012-07-18 00:18:21 -0600

Seen: 2,584 times

Last updated: Jan 30 '15