openni registration fails [closed]

asked 2013-08-22 02:45:34 -0500

jake.anq gravatar image

I am trying to view a registered point cloud from OpenNI (from a kinect sensor) in rviz, but see no output at all.

I am using ROS Hydro (desktop-full version), with all packages updated to the latest available in the apt repositories on Linux Mint (as of a few days ago) and used the following to launch (in separate terminals):

$ roscore
$ roslaunch openni openni.launch
$ rosrun rviz rviz

I can view the unregistered point cloud with no problems at this point, but when I enable registration with rqt_reconfigure, the cloud immediately vanishes.

$ rosrun rqt_reconfigure rqt_reconfigure

After registration, rviz shows nothing (I have changed the topic in the pointcloud2 in rviz) and rostopic echo shows no output from /camera/depth_registered/points.

In the past, I have had this working on ROS Groovy (I mainly upgraded to Hydro because I wanted to use PCL 1.7).

The output from roswtf while openni.launch, rqt_reconfigure and rviz are running and the driver has been reconfigured to register point clouds:

No package or stack in context
Static checks summary:

No errors or warnings
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /camera/camera_nodelet_manager:
   * /tf_static
 * /rviz_1377174856421642605:
   * /tf_static

WARNING The following nodes are unexpectedly connected:
 * unknown (<a href="http://Angua-von-Uberwald:40408/)-%3E/rosout">http://Angua-von-Uberwald:40408/)->/rosout</a> (/rosout)
edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-11-30 13:23:09.507580


What version off Mint? There is a bug with the 32 bits version of ubuntu that makes this error, as soon as you enable the registration the point cloud is full of NaNs. Also check this:

jcc gravatar image jcc  ( 2013-08-22 13:13:12 -0500 )edit

I'm running 64 bit Mint. Also rosecho doesn't output anything at all, as opposed to outputting NaNs which seems like a different error to the one mentioned above. I'll try reinstalling from source though.

jake.anq gravatar image jake.anq  ( 2013-08-22 23:42:05 -0500 )edit

I've managed to come up with a temporary solution, using the version of openni and openni_launch that I had been using with Groovy. I'm still curious as to what might be causing the current version to break though.

jake.anq gravatar image jake.anq  ( 2013-08-23 16:52:03 -0500 )edit

Did you ever find out why it does not publish to tf_static?

Athoesen gravatar image Athoesen  ( 2014-01-07 07:23:01 -0500 )edit

No - I'm still using the previous version of openni as mentioned in my prev. comment. I haven't specifically looked for the cause of the problem though.

jake.anq gravatar image jake.anq  ( 2014-01-07 10:20:39 -0500 )edit