Hallo,

I am using a Kinect mounted on a PR2, ROS Electric and the openni_camera package from the openni_kinect stack. After starting the Kinect driver with

• rgb_frame id: /openni_rgb_optical_frame and
• depth_frame_id: /openni_depth_optical_frame

the published clouds both have the frame_id /openni_rgb_optical_frame.

Has someone an explanation for me?

Thanks David

pr2admin@kodiak-c1:/opt/ros/electric/stacks/openni_kinect/openni_camera/launch$ roslaunch openni_camera openni_node.launch

... logging to /u/pr2admin/.ros/log/bf52f8ea-e5a0-11e1-9e5c-001517ebc101/roslaunch-kodiak-c1-11445.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://kodiak-c1:55334/

SUMMARY

PARAMETERS * /rosdistro * /openni_node1/use_indices * /openni_node1/depth_registration * /openni_node1/image_time_offset * /openni_node1/depth_frame_id * /openni_node1/depth_mode * /openni_node1/debayering * /rosversion * /openni_node1/projector_depth_baseline * /openni_node1/rgb_frame_id * /openni_node1/depth_rgb_translation * /openni_node1/depth_time_offset * /openni_node1/image_mode * /openni_node1/shift_offset * /openni_node1/device_id * /openni_node1/depth_rgb_rotation

NODES / openni_node1 (openni_camera/openni_node) kinect_base_link (tf/static_transform_publisher) kinect_base_link1 (tf/static_transform_publisher) kinect_base_link2 (tf/static_transform_publisher) kinect_base_link3 (tf/static_transform_publisher)

auto-starting new master process[master]: started with pid [11471] ROS_MASTER_URI=http://c1:11311

setting /run_id to bf52f8ea-e5a0-11e1-9e5c-001517ebc101 process[rosout-1]: started with pid [11488] started core service [/rosout] process[openni_node1-2]: started with pid [11498] process[kinect_base_link-3]: started with pid [11501] process[kinect_base_link1-4]: started with pid [11502] process[kinect_base_link2-5]: started with pid [11503] process[kinect_base_link3-6]: started with pid [11505] [ INFO] [1344901438.735767926]: [/openni_node1] Number devices connected: 1 [ INFO] [1344901438.736005847]: [/openni_node1] 1. device on bus 002:09 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365902376048A' [ INFO] [1344901438.738526435]: [/openni_node1] searching for device with index = 1 [ INFO] [1344901438.783217136]: [/openni_node1] Opened 'Xbox NUI Camera' on bus 2:9 with serial number 'A00365902376048A' [ INFO] [1344901438.798280799]: rgb_frame_id = '/openni_rgb_optical_frame' [ INFO] [1344901438.800312236]: depth_frame_id = '/openni_depth_optical_frame'

===

pr2admin@kodiak-c1:~$ rostopic echo /camera/depth/points | grep frame
frame_id: /openni_rgb_optical_frame

pr2admin@kodiak-c1:~$ rostopic echo /camera/rgb/image_color | grep frame frame_id: /openni_rgb_optical_frame