openni registration fails [closed]
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)
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: http://answers.ros.org/question/53706/registered-depth-image-is-black/?answer=74272#post-id-74272
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.
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.
Did you ever find out why it does not publish to tf_static?
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.