OpenNI Subscription [closed]

edit

This is a fairly simple problem which I'm pretty sure would have been answered somewhere but can't find the solution.

One of my nodes subscribes to the Kinect OpenNI driver node's (roslaunch openni_launch openni.launch) rgb and depth topics. More often than not, when I call SIGINT on the subscribing node and restart it, the OpenNI node fails to publish any more topics. Sometimes I am given a TF transform error (require a lookup into the past) and sometimes not. Is this due to not 'flusing' the subscribed topics or something not mentioned in the tutorials?

EDIT: I am using ros fuerte on a Ubuntu 12.04 system

EDIT: After waiting it out for a while after not publishing I get this error

terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
  what():  virtual void openni_wrapper::OpenNIDevice::startImageStream() @ /tmp/buildd/ros-fuerte-openni-camera-1.8.0/debian/ros-fuerte-openni-camera/opt/ros/fuerte/stacks/openni_camera/src/openni_device.cpp @ 224 : starting image stream failed. Reason: Xiron OS got an event timeout!
[camera_nodelet_manager-2] process has died [pid 7029, exit code -6, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet manager __name:=camera_nodelet_manager __log:=/home/oliver/.ros/log/d2dbb3fa-0861-11e2-a3ba-002219ebc74e/camera_nodelet_manager-2.log].
log file: /home/oliver/.ros/log/d2dbb3fa-0861-11e2-a3ba-002219ebc74e/camera_nodelet_manager-2*.log

It's a blob tracker but I've omitted the blob tracking code (doesn't affect the subscription issue), so here is my callback

void ImageCb(const sensor_msgs::ImageConstPtr &msg)
{
    cv_bridge::CvImagePtr cv_ptr; 
    try
    {
        cv_ptr = cv_bridge::toCvCopy(msg, enc::BGR8);
    }
    catch (cv_bridge::Exception& e)
    {
        ROS_ERROR("cv_bridge exception: %s", e.what());
        return;
    }
        IplImage *imageBGR,*imageHSV,temp;

        imageBGR = cvCreateImage( size , IPL_DEPTH_8U, 3);
    imageHSV = cvCreateImage( size , IPL_DEPTH_8U, 3);

        temp =  (cv_ptr->image.operator IplImage());
        imageBGR = cvCloneImage( &temp );
        cvCvtColor(imageBGR, imageHSV, CV_BGR2HSV); //takes up memory?

    cvSetMouseCallback( ORIGINAL, my_mouse_callback, (void*) imageHSV );

        if (drawing_box_){
          cvSetImageROI( imageBGR, box );
          cvXorS( imageBGR, cvScalarAll(255), imageBGR, 0 );
          cvResetImageROI( imageBGR );
        }

        //call blob tracker for each blob
        /*
        for (unsigned ci = 0; ci < blob_tracker.size() ; ci++){
            blob_tracker[ci]->ImageFilter(imageHSV); 
            imageBGR = ShowROI(blob_tracker[ci], imageBGR);
        }*/


        cvShowImage(ORIGINAL, imageBGR);
        cvWaitKey(30);
        cvReleaseImage( &imageBGR );
        cvReleaseImage( &imageHSV );
}

and the main function

int main(int argc, char ** argv)
{
    //ros initialisations
        ros::init(argc, argv, "image_converter");
        ros::NodeHandle main_nh_;
    ros::Rate loop_rate(20);
    cvNamedWindow(ORIGINAL, CV_WINDOW_AUTOSIZE);
        image_transport::ImageTransport main_it_(main_nh_);
    image_transport::Subscriber main_image_sub_ = main_it_.subscribe("/camera/rgb/image_color", 1, &ImageCb);
        blob_tracker.resize(0);

        cout << "Click the RGB image to track a colour blob" << endl << endl;

    while (ros::ok()){
      ros::spinOnce();
      loop_rate.sleep();
    }

        return 0;
}