Cant see Kinect Data in ROS

Question

I am working on this project that involves using the Kinect for XBOX 360S with ROS.

I did all the steps mentioned in the ROS Tutorials to have Openni Installed and the Prime sense and other drivers. and when i go to Openni samples i see a output. But in ROS i do a roscore and in another terminal do a roslaunch openni_launch openni.launch. And it loads with the regular calibration warnings and service already registered errors. Then in another terminal i open Rviz which gives a error /.rviz/display_config does not exist. And even though i accept the error and go ahead i see a black window which shows no output ,even if i do all tasks mentioned at the RVIZ Tutorials. Also i tried running "rosrun image_view image_view image:=/camera/rgb/image_color" and it shows up a blank window with no output. How do i resolve this and get ros to show my kinect data??

I need to run RGBDSLAM and use this kinect later.

I am on Ubuntu 12.04 and ROS-Fuerte.

Well when i launch the openni.launch it starts as usual except for the errors ¨Tried to advertise a service that is already advertised in this node.

And when i run a rostopic it just says subscribed to the /camera/depth_registered/points and cursor keeps blinking. Even subscribing to the rectified topics just says subscribed and nothing more happens.

Answer 1

Try freenect, there are some problems with OpenNI solution.

Firt, install freenect by

sudo apt-get install ros-fuerte-freenect-stack

After installation, connect your kinect (in USB 2.0 port) and run freenect

roslaunch freenect_launch freenect.launch

Then run Rviz and set Fixed frame to /camera_link, you can now add PointCloud2 window and select the right topic to view the input.

rosrun rviz rviz

Hope you enjoy ROS!

Answer 2

First of all, I know this is not an answer, however since I am a new user I cannot comment on Preetham's question.

I have a very similar problem, however, when I first run roswtf, I get no errors but when I wait a bit after using rviz or trying to record a bagfile, the openni.launch terminal itself gives me this error:

terminate called after throwing an instance of 'openni_wrapper::OpenNIException' what(): virtual void openni_wrapper::OpenNIDevice::startImageStream() @ /tmp/buildd/ros-groovy-openni-camera-1.8.8-0precise-20130418-2203/src/openni_device.cpp @ 224 : starting image stream failed. Reason: Xiron OS got an event timeout! [camera_nodelet_manager-2] process has died [pid 3788, exit code -6, cmd /opt/ros/groovy/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/rosbotics/.ros/log/16b63744-e043-11e2-ac16-080027486aa8/camera_nodelet_manager-2.log]. log file: /home/rosbotics/.ros/log/16b63744-e043-11e2-ac16-080027486aa8/camera_nodelet_manager-2*.log

and roswtf displays:

unknown network error contacting node: timed out

Warning These nodes have died:

• camera_nodelet_manager-2

found 2 errors

ERROR The following nodes should be connected but aren't:

• /camera_base_link1->/camera_nodelet_manager (/tf)

• /camera_base_link->/camera_nodelet_manager (/tf)

• /camera_base_link3->/camera_nodelet_manager (/tf)

• /camera_base_link2->/camera_nodelet_manager (/tf)

ERROR Errors connecting to the following services: (then it displays a lot of services)

At first After looking around a bit I thought it was a problem with openni and tried using freenect instead, however that too gave a black screen. Then I tried using something completely unrelated to ros, freenect-glview, however that too gave me a black screen.

lsusb shows that all 3 parts of the kinect are connected and I've been able to control the kinect's motor through ubuntu so I know that there is at least a connection established between both.

I am using ubuntu 12.04 and ROS-Groovy.

I would appreciate anyone's help on the matter.