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I have managed to successfully install ros groovy on my raspberry pi and openni. Unfortunately when I connect my Asus Xtion to the raspberry pi (with a powered hub), it does detect the sensor, but I receive and error of USB interface not supported. Is there any way that I can fix this error?
I did not get it to work with OpenNI either but OpenNI2 works with some minor changes. It should compile out of the box from my repo using make: https://github.com/kalectro/OpenNI2.git
I also wrote an openni2_camera package which runs on the raspberry and can stream the depth image as a ROS message with 30fps (when overclocked) https://github.com/kalectro/openni2_camera
After building OpenNI2 successfully and catkin_make ran through, navigate into OpenNI2/Bin/ReleaseX and call rosrun openni2_camera openni2_camera_node from here. Otherwise it will not find the Openni2 libraries
@kalectro: maybe your openni2 have a problem with calibration, I can not set using my calibration, it still use defaut calibration, but I am working with Linux Arm and the resolution of depth in ARM just 160*120, but with rgb it is 320*240. Do you know how to I fix it?
so kalectro i tried to run your openni2_camera_node and i get the following errors. where do you think Im going wrong here?
[ INFO] [1368968043.171416263]: creating image_transport... this might take a while...
[ERROR] [1368968049.678261385]: Tried to advertise a service that is already advertised in this node [/openni2_camera/set_camera_info]
[ INFO] [1368968049.696679863]: using default calibration URL
[ INFO] [1368968049.716394302]: camera calibration URL: file:///home/pi/.ros/camera_info/rgb.yaml
[ERROR] [1368968049.727926974]: Unable to open camera calibration file [/home/pi/.ros/camera_info/rgb.yaml]
[ WARN] [1368968049.743592530]: Camera calibration file /home/pi/.ros/camera_info/rgb.yaml not found.
[ WARN] [1368968049.755016205]: Using default parameters for RGB camera calibration.
[ INFO] [1368968049.771172746]: using default calibration URL
[ INFO] [1368968049.786680305]: camera calibration URL: file:///home/pi/.ros/camera_info/depth.yaml
[ERROR] [1368968049.790892185]: Unable to open camera calibration file [/home/pi/.ros/camera_info/depth.yaml]
[ WARN] [1368968049.802418858]: Camera calibration file /home/pi/.ros/camera_info/depth.yaml not found.
[ WARN] [1368968049.825350207]: Using default parameters for IR camera calibration.
[ERROR] [1368968049.832703998]: Device could not be initialized because Found no files matching './OpenNI2/Drivers/lib*.so'
Alright I did that. I hope its alright. So kalectro can you tell me how you can produce and view pointcloud on rviz from the depth images your openni2_camera_node streams. I am not very familiar with what it takes in the background to achieve that. With openni.launch, getting pointclouds was simple
hi boog. Unfornunately I have installed openni_launch months ago on ros groovy so i barely remember what I did. what I can tell you about openni_launch is that i manage to get the depth images from the xtion but with a lower frame rate. Unfortunately openni_launch crashes when I try to get rgb images from the camera. So I suggest you mabye follow what Kalectro has done and use that. and generating point clouds on the pi itself is extremly slow. I let that process happen on my computer rather than the pi.
I have generated a remote point cloud. Thanks to piggy backing Kalectro's work I was able to stream the depth image to a laptop (as ros master) that I simply copied and reduced all openni_launch files to just depth processing in the processing include launch file changing the camera parameter to openni2_camera. My spin was transporting the stream off my Mike Ferguson Arduino based robot with a second Raspberry Pi acting as a wireless bridge with a cat5 crossover cable to the XTION connected Pi (because its USB is to bogged to transmit 802.11 usb). Thanks Mike and Kalectro for a cool Raspberry Pi Turtlebot Navigation capable robot!
Asked: 2013-05-15 21:16:39 -0500
Seen: 3,725 times
Last updated: Oct 14 '13
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