Problem starting openni in ros electric

asked 2011-08-23 10:37:00 -0600

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Hi All, I recently downloaded ros/electric. I was trying to run openni node with command : roslaunch openni_launch openni.launch.
The result of this run is not stable. I get it to run at times and at other times, it just doesn't run. It hangs and neither the topic /camera/depth_registered/points shows up anything with rostopic hz nor does rviz show anything.
Also, there is always an error I can see I have no clue why this error exists. It exists even when the node hangs and doesn't publish anything . I am using kinect. Any Help appreciated. ~Cheers! Neeraj

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answered 2011-08-23 10:38:49 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

updated 2011-09-02 11:40:15 -0600

ANSWER UPDATED 9-2-11:

The Electric debs have recently been updated (between RC1 and final release) to include the Diamondback-style interface. I recommend that you try "roslaunch openni_camera openni_node.launch" rather than the new openni_launch package.

If you want to use openni_launch, you probably have to use dynamic reconfigure to turn on depth_registration, as it no longer does so automatically (you can also set a rosparam parameter). Some of the errors you saw with the openni_launch package is probably related to not having a calibration file, and can be safely ignored. If there are errors besides calibration, please post the full and exact error message.

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I have the same problem. Some times the depth points publish and sometimes they do not. Below is a list of the errors that show during startup. [ERROR] [1314382137.050990454]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters] [ERROR] [1314382137.057244743]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]

Jake ( 2011-08-26 06:09:49 -0600 )edit

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answered 2011-08-26 10:33:55 -0600

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I have found that if I start the openni node directly it works ie. roslaunch openni_launch openni.launch

However if I include openni.launch from another launch file <include file="$(find openni_launch)/launch/openni.launch"> </include> it sometimes does not publish any topics when it starts up.

I tested this theory using the kinect.launch file in the turtlebot_bringup package and it worked 7 of the 10 times when calling roslaunch turtlebot_bringup kinect.launch

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