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ros-groovy-pcl problem

asked 2013-04-30 09:05:59 -0500

aps40 gravatar image


I have installed pcl in ubuntu with command:

sudo apt-get install ros-groovy-pcl

When I try compile the example of tutrial I have the nex error:

openni_grabber.h no such file or directory

I look in io folder and the library openni_grabber isn't.

Could anyone help me?


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4 Answers

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answered 2013-05-03 12:19:36 -0500

tfoote gravatar image

Note that standalone pcl will collide with ros_pcl and anything build on top of it. You may have better luck with pcl17

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You are right. I am currently using Fuerte as well as Groovy. My answer works on Fuerte as it has PCL version 1.5.

Hemu gravatar image Hemu  ( 2013-05-03 15:43:19 -0500 )edit

@tfoote, Henmu: the better way to install both pcl and ros is using pcl17? it looks complicated in pcl17 page whereas the installation of pcl (at and ros normal install is straightforward. Is there any other way to fix this collision?

roskidos gravatar image roskidos  ( 2014-03-18 17:26:50 -0500 )edit

If you use newer versions of ROS it uses pcl 1.7. Moving large systems takes time and we need to make sure to provide stability to our users. In Hydo we package pcl 1.7. In Indigo it will use the upstream version.

tfoote gravatar image tfoote  ( 2014-03-18 20:36:38 -0500 )edit

@tfoote : I was just trying to resolve the collision between standalone opencv library and the one provided by ROS. I came across a idea of creating my own 'Find***.cmake' for the standalone library file. Do you think it can help to prevent the collision even if pcl_ros and standalone pcl are of same version but different installation paths?

Hemu gravatar image Hemu  ( 2014-05-10 10:07:32 -0500 )edit

@Hemu you can try, but I don't think that's the biggest problem. I expect by jumping versions around you're going to run into actual differences in the code, not just packaging issues. Both can be found adaquately, but they cannot be used simultaneously due to collisions.

tfoote gravatar image tfoote  ( 2014-05-10 18:36:27 -0500 )edit

answered 2013-04-30 11:41:07 -0500

Hemu gravatar image

updated 2013-05-03 15:15:01 -0500

I had the same problem so I used standalone pcl library. I compiled PCL from source and added the following lines to CMakeLists.txt in the package (remember to create a package that does not depend on pcl_ros):

find_package(PCL 1.6 REQUIRED)


rosbuild_add_executable(example src/example.cpp)
target_link_libraries(example ${PCL_LIBRARIES})

I successfully executed some of the examples. If your purpose is to execute pcl tutorial examples, then you do not need to create a ROS package. However, if your purpose is to view the pcl data you can use the following procedure:

1. roslaunch openni_launch openni.launch
2. convert sensor_msgs::PointCloud2 data to pcl::PointCloud<pcl::PointXYZ>
3. Then create a pcl::visualization::CloudViewer object to view the pcl::PointCloud data.

In this case you will not need OpenNIGrabber.

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To compile PCL from source:

Hemu gravatar image Hemu  ( 2013-04-30 11:43:19 -0500 )edit

answered 2013-05-01 08:17:14 -0500

aps40 gravatar image


I am going to try. But Do I have to unistall ros_pcl and install standalone pcl library or it could work both?

thanks again.

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answered 2013-07-29 21:59:07 -0500

aps40 gravatar image

Hello agai, After a few months I could not run the openni_grabber. Now I have installed ros-hydro with pcl 1.7 and I have the same problem, the file openni_grabber.h doesn't exist. I don't know that I can do anymore. Thanks again.

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Have you tried compiling PCL with BUILD_OPENNI=ON?

ereekmans gravatar image ereekmans  ( 2013-07-30 00:30:17 -0500 )edit

@aps40 could you ever manage to make the pcl17 work with ROS for example to publish or subscribe to topics?

ctguell gravatar image ctguell  ( 2013-10-08 09:50:26 -0500 )edit

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Asked: 2013-04-30 09:05:59 -0500

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Last updated: May 03 '13