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@ish45 assuming you have Ubuntu 12.04 64bit:

cd ~/Downloads
unzip avin2-SensorKinect-v0.93-5.1.2.1-0-g15f1975.zip 
cd avin2-SensorKinect-15f1975/Bin
tar -xjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1
sudo ./install.sh

This is great news Martin!

Ubuntu 14.04 - ROS Indigo

This is because the depth_registration option is not selected.

Start rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

Select the driver from the left side and activate the depth_registration option.

You should now be able to see the registered rgbd pointcloud in rviz.

Ubuntu 14.04 - ROS Indigo

This is because the depth_registration option is not selected.

Start rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

Select the driver from the left side and activate the depth_registration option.

You should now be able to see the registered rgbd pointcloud in rviz.

Any update on this?

@mbforbes did you ever get this to work?

Since openni.org site has changed recently. You should do the following to do as @pgorczak suggested.

You need to install the NiTE v1.5.2.21 middleware from:

www.openni.ru/openni-sdk/openni-sdk-history-2

Assuming you extracted the file to your Downloads directory, do the following:

cd ~/Downloads/NITE-Bin-Dev-Linux-x64-v1.5.2.21

sudo ./install.sh

I saw this too late. Anyway here is a dropbox link of all the downloads I got before they shutdown: www.dropbox.com/sh/jsygeyx8dwa49w6/AAA-XmOWcz9svJBZQ_VKMS3ha Nice find! I edited the answer.

@ben to my knowledge this just converts vertices in the STL file into points in the point cloud. I am not aware of a tool that resamples points. Did you find any good solution?

@rcj1986 please edit the original question when posting updates instead of posting an answer to your own question. Unless this was the answer to your own question.

If you don't have aptitude, install it: sudo apt-get install aptitude

This seems to be related to libflann upgraded to 1.8.4-2. The solution was to downgrade libflann. I used aptitude to do this easily.

sudo aptitude remove libflann-dev

The first time aptitude suggests to remove many packages. Type 'n' for no at the prompt.

The second time aptitude suggests keeping libflann at 1.8.4-2. Type 'n' for no at the prompt.

The third time aptitude suggests downgrading libflann-dev [1.8.4-2 (now, precise) -> 1.7.1-1 (precise)]. Type 'y' for yes.

Here was my terminal output:

$ sudo aptitude remove libflann-dev
[sudo] password for isura: 
The following packages will be REMOVED:  
  libflann-dev libkms1{u} nvidia-settings-304{u} 
0 packages upgraded, 0 newly installed, 3 to remove and 0 not upgraded.
Need to get 0 B of archives. After unpacking 11.1 MB will be freed.
The following packages have unmet dependencies:
 libpcl-search-1.7-dev : Depends: libflann-dev but it is not going to be installed.
 libpcl-kdtree-1.7-dev : Depends: libflann-dev but it is not going to be installed.
The following actions will resolve these dependencies:

      Remove the following packages:           
1)      libpcl-1.7-all                         
2)      libpcl-1.7-all-dev                     
3)      libpcl-apps-1.7-dev                    
.
.
.
80)     ros-hydro-turtlebot-simulator          
81)     ros-hydro-turtlebot-teleop             
82)     ros-hydro-turtlebot-viz                



Accept this solution? [Y/n/q/?] n
The following actions will resolve these dependencies:

     Keep the following packages at their current version:
1)     libflann-dev [1.8.4-2 (now, precise)]              



Accept this solution? [Y/n/q/?] n
The following actions will resolve these dependencies:

     Downgrade the following packages:                           
1)     libflann-dev [1.8.4-2 (now, precise) -> 1.7.1-1 (precise)]



Accept this solution? [Y/n/q/?] y
The following packages will be DOWNGRADED:
  libflann-dev 
The following packages will be REMOVED:
  libkms1{u} nvidia-settings-304{u} 
0 packages upgraded, 0 newly installed, 1 downgraded, 2 to remove and 0 not upgraded.
Need to get 0 B/892 kB of archives. After unpacking 2,039 kB will be freed.
Do you want to continue? [Y/n/?] y
(Reading database ... 496379 files and directories currently installed.)
Removing libkms1 ...
Removing nvidia-settings-304 ...
Processing triggers for libc-bin ...
ldconfig deferred processing now taking place
dpkg: warning: downgrading libflann-dev from 1.8.4-2 to 1.7.1-1.
(Reading database ... 496371 files and directories currently installed.)
Preparing to replace libflann-dev 1.8.4-2 (using .../libflann-dev_1.7.1-1_amd64.deb) ...
Unpacking replacement libflann-dev ...
Setting up libflann-dev (1.7.1-1) ...

After upgrading the Hydro packages I get the following compile error:

make[2]: *** [  0%] No rule to make target `/usr/lib/libflann_cpp_s.a'

Do you still have this problem?

Why are "odom", "imu_data" and "base_footprint" hardcoded in robot_pose_ekf? Why not pass these as parameters similar to "odom_combined"? see below:

nh_private.param("input_odom", input_odom_, std::string("odom"));
nh_private.param("input_imu", input_imu_, std::string("imu_data"));
nh_private.param("robot_frame", robot_frame_, std::string("base_footprint"));

The above parameters are not currently defined in robot_pose_ekf.

Was your problem resolved @ctguell?

Was this resolved @bit-pirate?

You could do this in ROS Hydro PCL 1.7 if your mesh was a pcl::PolygonMesh:

#include <pcl io="" vtk_lib_io.h="">

const std::string meshFileName = "test.stl";

pcl::PolygonMesh testMesh;
pcl::io::loadPolygonFileSTL( meshFileName, testMesh );    
pcl_conversions::fromPCL( testMesh.cloud, output );

The pr2_mechanism_model::KinematicHelpers class seems to be missing from the pr2_mechanism_model package. Was this moved to another package?

This is used in the Coding a realtime Cartesian controller with Eigen tutorial: http://www.ros.org/wiki/pr2_mechanism/Tutorials/Coding%20a%20realtime%20Cartesian%20controller%20with%20Eigen

I found the following questions that were not answered: http://comments.gmane.org/gmane.science.robotics.ros.user/7999

http://listarc.com/showthread.php?1780322-Cartesian+controller+tutorial