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When I tried to launch the OpenNI Kinect driver on PR2, I do:

roslaunch /etc/ros/openni_head.launch

And then I got the following error message:

unused args [name] for include of [/opt/ros/hydro/share/openni_launch/launch/includes/manager.launch]

Nothing was started.

Here is the openni_head.launch file. I think that the problem is from line 47~50:

  <include file="$(find openni_launch)/launch/includes/manager.launch">
    <arg name="name" value="$(arg manager)" />
    <arg name="debug" value="$(arg debug)" />

After I omitted the line "", I get another error:

[FATAL] [WallTime: 1381238959.313747] manager.launch has moved to rgbd_launch! Replace "$(find openni_launch)/launch/includes/manager.launch" with "$(find rgbd_launch)/launch/includes/manager.launch.xml". This notice will be removed in ROS Indigo
[FATAL] [WallTime: 1381238959.424237] device.launch has moved to openni_launch! Replace "$(find openni_launch)/launch/includes/device.launch" with "$(find openni_launch)/launch/includes/device.launch.xml". This notice will be removed in ROS Indigo
[FATAL] [WallTime: 1381238959.470131] processing.launch has moved to rgbd_launch! Replace "$(find openni_launch)/launch/includes/processing.launch" with "$(find rgbd_launch)/launch/includes/processing.launch.xml". This notice will be removed in ROS Indigo
================================================================================REQUIRED process [manager_deprecated-1] has died!
process has finished cleanly
log file: /home/pr2admin/.ros/log/29e33790-3011-11e3-9aea-001517ebc33d/manager_deprecated-1*.log
Initiating shutdown!

Then I followed the instruction and replace "$(find openni_launch)/launch/includes/manager.launch" with "$(find rgbd_launch)/launch/includes/manager.launch.xml".

Here's another error I got:

included file [/opt/ros/hydro/share/rgbd_launch/launch/includes/manager.launch.xml] requires the 'name' arg to be set

Okay...let's add it back again. And then I got another error:

included file [/opt/ros/hydro/share/rgbd_launch/launch/includes/manager.launch.xml] requires the 'num_worker_threads' arg to be set

Well...can anyone provide a workable launch file for running Kinect driver?

My PR2 is running on ROS Hydro. Thanks for any help~

Originally posted by Albert K on ROS Answers with karma: 301 on 2013-10-08

Post score: 0

Original comments

Comment by jdorich on 2013-10-08:
Is there a reason you are not using "openni_launch openni.launch" similar to here: https://github.com/turtlebot/turtlebot/blob/hydro-devel/turtlebot_bringup/launch/3dsensor.launch

Comment by Albert K on 2013-10-11:
Good idea! I just tested the openni.launch in openni_launch package. There are some transform errors such that the PointCloud data can't be transformed to the base_link. After checking the doc website, I'll try to set some of the parameters to make the transform work. Thanks~


1 Answer 1


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Thanks to @jdorich. I've modified the launch file based on openni.launch in openni_launch package so that it can run on PR2 Hydro correctly.

In case that someone got the same problem, here is the file.

The <!--###MODIFIED###--> comment means that the following line is where I comment out or add a new line.

Originally posted by Albert K with karma: 301 on 2013-10-11

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by honky on 2014-05-10:
Link is dead, could you please provide any hint for solving the issue? Would be real nice. Thx.

Comment by silgon on 2014-06-14:
dead link, please send it in some link where nobody can change the info ;)


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