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Error with openni.launch groovy in Raspbian

asked 2013-03-23 08:54:35 -0600

FBernuy gravatar image

updated 2016-10-24 08:59:45 -0600

ngrennan gravatar image

Hi!

I'm trying to use Openni to use the Kinect in my Raspberry Pi, but I can't make it run.

I'm using the image from the installation tutorial, and installed the openni_launch package in my workspace using wstool.

I installed Openni as follow:

$ cd &myCatkinWs&
$ mkdir src
$ cd src
$ wstool init
$ wstool set openni_launch --git git://github.com/ros-drivers/openni_launch.git
$ wstool set openni_camera --git git://github.com/ros-drivers/openni_camera.git
$ sudo wstool update
$ cd ..
$ source devel/setup.bash
$ catkin_make

When I use the roslaunch openni_launch openni.launch, I get the next error msg:

[ERROR] [1364061846.229535130]: Failed to load nodelet [/camera/driver] of type [openni_camera/driver]: Could not find library corresponding to plugin openni_camera/driver. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. [camera/driver-3] process has died [pid 3297, exit code 255, cmd /opt/ros/groovy/lib/nodelet/nodelet load openni_camera/driver /camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/pi/.ros/log/db4f0fba-93e3-11e2-b03f-b827eb51381c/camera-driver-3.log].

The plugin description XML of the openni_camera is:

<!-- OpenNI driver nodelet publisher -->
<library path="lib/libopenni_nodelet">

  <class name="openni_camera/driver" type="openni_camera::DriverNodelet" base_c$
    <description>`
      OpenNI camera driver nodelet.
    </description>
  </class>

</library>

The error says that it couldn't find a library, and the xml file calls a library path that I can't find.

so: what can I do? How can I find or make the missing path and files?

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Comments

how did you install openni_launch? I've used sudo wstool init src -j1 https://github.com/ros-drivers/openni_launch.git

from a catkin workspace but I get the following error:

..Invalid multiproject yaml format in [https://github.com/ros-drivers/openni_launch.git]: mapping values are not allowed

fsotosan gravatar imagefsotosan ( 2013-03-27 06:32:11 -0600 )edit

I added the steps to the original post. I hope it helps.

FBernuy gravatar imageFBernuy ( 2013-03-27 09:26:41 -0600 )edit

Thanks. It helped me a lot indeed. I can launch openni_launch but get: "Failed to load nodelet [/camera/driver] of type [openni_camera/driver]: According to the loaded plugin descriptions the class openni_camera/driver with base class type nodelet::Nodelet ..."

fsotosan gravatar imagefsotosan ( 2013-03-27 13:22:42 -0600 )edit

Did you manage to fix the error you had @fsotosan?

miguel gravatar imagemiguel ( 2015-08-15 07:47:44 -0600 )edit

3 Answers

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answered 2013-05-01 16:55:13 -0600

kalectro gravatar image

I also tried out a few things with the Kinect and did not get it to work on the raspi. My solution was to use Openni2 for which I wrote a ROS node

https://github.com/kalectro/openni2_camera.git

You will first need to install Openni2. I forked the repo and made changes so it would compile on the raspberry. Just run make in this repo

https://github.com/kalectro/OpenNI2.git

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Comments

I'll try this as soon as I can, thanks!!!

FBernuy gravatar imageFBernuy ( 2013-05-10 10:36:02 -0600 )edit

Since Openni2 does not provide a 'make install' you will need to manually copy the libraries. I also needed to call rosrun from OpenNi2/Bin/Arm-Release so that it found the libraries. If anyone finds a better solution, please fork it and issue a pull request

kalectro gravatar imagekalectro ( 2013-05-10 10:40:51 -0600 )edit
1

answered 2013-03-27 09:33:10 -0600

FBernuy gravatar image

The problem was that I didn't use the catkin workspace, and instead of using catkin_make, I used rosmake.

So, using the catkin workspace and catkin_make makes the openni_launch run, but there appears a different problem related with the USB, and so far I haven't had luck.

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answered 2013-05-13 22:14:18 -0600

cyrus gravatar image

Hey guys. I managed to install opnenni_camera and openni_launch using sudo apt-get install -f ros-groovy-openni-camera ros-groovy-openni-launch on the raspberry pi. From this I don't get any errors anymore but it seems like the launch file does not pick up the Kinect properly. I am trying to stream back the Kinect data from the pi to my laptop which runs ubuntu 12.04. I am running ROS fuerte on my Ubuntu 12.04 and groovy on the pi. rviz does pick up the fact that I am running openni_launch but it cannot receive any point clouds what so ever.

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Asked: 2013-03-23 08:54:35 -0600

Seen: 1,724 times

Last updated: May 13 '13