Hi everyone,
I attempted to connect ASUS Xtion 2 with openni2.launch, but I could not.
And I received the following ROS_INFO message.
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: indigo
* /rosversion: 1.11.21
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 (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [24252]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d70c95f0-8c9d-11e7-98a5-9c4e36cd2e30
process[rosout-1]: started with pid [24272]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [24283]
process[camera/driver-3]: started with pid [24289]
process[camera/rgb_rectify_color-4]: started with pid [24291]
process[camera/depth_rectify_depth-5]: started with pid [24292]
process[camera/depth_metric_rect-6]: started with pid [24311]
process[camera/depth_metric-7]: started with pid [24326]
process[camera/depth_points-8]: started with pid [24336]
process[camera/register_depth_rgb-9]: started with pid [24339]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [24359]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [24365]
process[camera_base_link-12]: started with pid [24376]
process[camera_base_link1-13]: started with pid [24403]
process[camera_base_link2-14]: started with pid [24413]
process[camera_base_link3-15]: started with pid [24439]
[ERROR] [1503999521.814253704]: Skipping XML Document "/opt/ros/indigo/share/swri_transform_util/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing.
[ INFO] [1503999521.821898422]: Initializing nodelet with 4 worker threads.
[ INFO] [1503999522.394933929]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.2.7/src/openni2_driver.cpp @ 631 : Invalid device number 1, there are 0 devices connected.
And CMakeLists.txt in openni2_camera.
cmake_minimum_required(VERSION 2.8.3)
project(openni2_camera)
find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_generation)
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(PkgConfig)
# pkg_check_modules(PC_OPENNI2 libOpenNi2)
# if (NOT PC_OPENNI2_FOUND)
# pkg_check_modules(PC_OPENNI2 REQUIRED openni2)
# endif()
generate_dynamic_reconfigure_options(cfg/OpenNI2.cfg)
add_service_files(FILES
GetSerial.srv)
generate_messages()
catkin_package(
INCLUDE_DIRS include
LIBRARIES openni2_wrapper
CATKIN_DEPENDS camera_info_manager dynamic_reconfigure image_transport nodelet sensor_msgs roscpp message_runtime
DEPENDS libOpenNI2
)
include_directories(include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
/home/myname/xtion2/ASUS-Linux-x64-OpenNI2.2/Include
)
link_directories(/home/myname/xtion2/ASUS-Linux-x64-OpenNI2.2/Redist)
find_path(OPENNI2_INCLUDE_PATH NAMES OpenNI.h
PATHS
/home/myname/xtion2/ASUS-Linux-x64-OpenNI2.2/Include
)
find_library(OPENNI2_LIBRARY NAMES OpenNI2 libOpenNI2
PATHS
/home/myname/xtion2/ASUS-Linux-x64-OpenNI2.2/Redist
)
add_library(openni2_wrapper
src/openni2_convert.cpp
src/openni2_device.cpp
src/openni2_device_info.cpp
src/openni2_timer_filter.cpp
src/openni2_frame_listener.cpp
src/openni2_device_manager.cpp
src/openni2_exception.cpp
src/openni2_video_mode.cpp
)
target_link_libraries(openni2_wrapper ${catkin_LIBRARIES} ${OPENNI2_LIBRARY} ${Boost_LIBRARIES} )
add_executable(test_wrapper test/test_wrapper.cpp )
target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES})
add_library(openni2_driver_lib
src/openni2_driver.cpp
)
target_link_libraries(openni2_driver_lib openni2_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_driver_lib ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_library(openni2_camera_nodelet
ros/openni2_camera_nodelet.cpp
)
target_link_libraries(openni2_camera_nodelet openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_camera_nodelet ${PROJECT_NAME}_gencfg)
add_executable(openni2_camera_node
ros/openni2_camera_node.cpp
)
target_link_libraries(openni2_camera_node openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
add_dependencies(openni2_camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_executable(list_devices
src/list_devices.cpp
)
target_link_libraries(list_devices openni2_wrapper)
if (UNIX AND NOT APPLE)
add_executable(usb_reset src/usb_reset.c)
set(ADDITIONAL_EXECUTABLES "usb_reset")
endif()
install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib ${ADDITIONAL_EXECUTABLES}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
# add xml file
install(FILES openni2_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
I could connect Xtion 2 with Niviewer.
If you could connect Xtion 2 with openni2.launch, would you tell me how to do it, please ?
Thank you.
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