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How to Launch OpenNI for KINECT

asked 2011-05-09 10:27:58 -0500

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I am having trouble launching OpenNI in ROS. Here is the code that is generated in the terminal. Please help!

...auto-starting new master

process[master]: started with pid [2865]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to b94a6992-7a85-11e0-9542-d48564bff373

process[rosout-1]: started with pid [2878]

started core service [/rosout]

process[openni_node1-2]: started with pid [2886]

process[kinect_base_link-3]: started with pid [2890]

process[kinect_base_link1-4]: started with pid [2892]

process[kinect_base_link2-5]: started with pid [2893]

process[kinect_base_link3-6]: started with pid [2894]

[ INFO] [1304977559.799925062]: [/openni_node1] Number devices connected: 1

[ INFO] [1304977559.800176015]: [/openni_node1] 1. device on bus 001:07 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00365709867102B'

[ INFO] [1304977559.802737337]: [/openni_node1] searching for device with index = 1

[ INFO] [1304977559.848618180]: [/openni_node1] Opened 'Xbox NUI Camera' on bus 1:7 with serial number 'B00365709867102B'

[ INFO] [1304977559.863246868]: rgb_frame_id = '/openni_rgb_optical_frame' 

[ INFO] [1304977559.865246392]: depth_frame_id = '/openni_depth_optical_frame'
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... the last two lines are: [ INFO] [1304977559.863246868]: rgb_frame_id = '/openni_rgb_optical_frame' [ INFO] [1304977559.865246392]: depth_frame_id = '/openni_depth_optical_frame'
eabryan gravatar image eabryan  ( 2011-05-09 10:32:46 -0500 )edit
What exactly is the problem you are having? That looks like normal startup for the openni_node. Can you post the output of 'rostopic hz /camera/rgb/points'? That will tell you if the driver is actually streaming data that you could then examine in rviz.
Eric Perko gravatar image Eric Perko  ( 2011-05-09 12:14:54 -0500 )edit
The problem is: The terminal stops after those two lines. Shouldn't I be able to enter additional commands? The terminal window behaves as if it's still working on some part of the program.
eabryan gravatar image eabryan  ( 2011-05-09 13:13:03 -0500 )edit
Also, I can not post the output from rostopic hz /camera/rgb/points because when I enter that command, the terminal does not respond.
eabryan gravatar image eabryan  ( 2011-05-09 13:15:47 -0500 )edit

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answered 2011-05-09 13:21:13 -0500

Eric Perko gravatar image

This is entirely normal behavior. After successfully launching, the terminal will not allow you enter additional commands, as the driver is still working - it is in fact in the actual data streaming loop.

In order to run additional commands (such as rostopic hz /camera/rgb/points or rosrun rviz rviz), you will have to open new terminal windows to enter them in.

If you are new to ROS, I suggest you go through the beginner tutorials to get a feel for how you normally start, interact with and write ROS nodes.

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Asked: 2011-05-09 10:27:58 -0500

Seen: 376 times

Last updated: May 09 '11