Setting up Asus Xtion Pro Live sensor on Raspberry Pi 3 with ROS Kinetic installed

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Hello all,

For some time now I am trying to correctly setup my Asus Xtion Pro live sensor on my Raspberry Pi 3, which has a ROS Kinetic installed. I successfully added and compiled the openni2_camera and openni2_launch packages. Also I tested the sensor by either installing the pre-compiled libopenni2-dev library:

$ sudo apt-get libopenni2-dev

For Linux Debian - Jessie. Furthermore, I tested the sensor with compiling the OpenNI2 libraries from source and installing them according to:

http://www.ferienvillaflorida.de/labs...

http://myzharbot.robot-home.it/blog/s...

https://ariandy1.wordpress.com/2013/0...

Finally, I copied the files:

$ cd OpenNi2/Bin/Arm-Release/OpenNI2/Drivers
$ sudo cp *.so /opt/ros/kinetic/lib

As indicated in: http://www.voidcn.com/blog/kristpan/a...

It seams that the sensor as it is, works correctly in both cases (either pre-compiled openni2 libraries or compiling them from source), since I successfully run the ./SimpleRead test program inside the Openni2 library and it also works fine when I do the:

$ rosrun openni2_camera openni2_camera_node

and I am getting rgb, ir and depth camera images in Rviz (using the "image" component) at 30Hz.

The problems start when I am trying to get a 3D point cloud by launching:

$ roslaunch openni2_launch openni2.launch

Then I continuously getting the following error and I cannot overcome it so far:

... logging to /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/roslaunch-raspberrypi-1145.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://raspberrypi:42699/

SUMMARY
========

PARAMETERS  * /camera/camera_nodelet_manager/num_worker_threads: 4  * /camera/depth_rectify_depth/interpolation: 0  * /camera/driver/auto_exposure: True  * /camera/driver/auto_white_balance: True  * /camera/driver/color_depth_synchronization: False  * /camera/driver/depth_camera_info_url: 
* /camera/driver/depth_frame_id: camera_depth_opti...  * /camera/driver/depth_registration: False  * /camera/driver/device_id: #1 
* /camera/driver/rgb_camera_info_url:   * /camera/driver/rgb_frame_id: camera_rgb_optica...  * /rosdistro: kinetic  * /rosversion: 1.12.7

NODES   /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)   /
    camera_base_link (tf2_ros/static_transform_publisher)
    camera_base_link1 (tf2_ros/static_transform_publisher)
    camera_base_link2 (tf2_ros/static_transform_publisher)
    camera_base_link3 (tf2_ros/static_transform_publisher)

auto-starting new master process[master]: started with pid [1156] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 72747be2-62e2-11e7-bc03-b827ebcc4b86 process[rosout-1]: started with pid [1169] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [1172] process[camera/driver-3]: started with pid [1173] process[camera/rgb_rectify_color-4]: started with pid [1174] process[camera/depth_rectify_depth-5]: started with pid [1175] process[camera/depth_metric_rect-6]: started with pid [1176] process[camera/depth_metric-7]: started with pid [1177] process[camera/depth_points-8]: started with pid [1178] process[camera/register_depth_rgb-9]: started with pid [1179] process[camera/points_xyzrgb_sw_registered-10]: started with pid [1185] process[camera/depth_registered_sw_metric_rect-11]: started with pid [1205] process[camera_base_link-12]: started with pid [1231] process[camera_base_link1-13]: started with pid [1246] process[camera_base_link2-14]: started with pid [1258] process[camera_base_link3-15]: started with pid [1271] [ INFO] [1499411045.433073462]: Initializing nodelet with 4 worker threads.

And the following nodlet error appears:

[FATAL] [1499411048.689301785]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager ...