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Hi all,

I tried to run other package with openni_launch of ASUS Xtion. In the launch file of other package, it subscribes to /camera/depth_registered/points, /camera/rgb/image_raw, /camera/depth_registered/image, and /camera/depth/camera_info. When I launched roslaunch openni_launch openni.launch, it was fine. But when I launched the other package, I got this following warning repeating over and over and could not subscribe to kinect rostopics.

[ WARN] [1412634733.035488109]: TF2 exception: Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:

Anyone who has seen this warning before? I am using ubuntu 14.04 and ROS indigo. I did openni-related apt-gets and installed openni_launch. The version of my ASUS Xtion is old one, so openni_launch package is comparable with it, and I was able to subscribe all of rostopics properly, which is fine. It looks like TF2 related problem, but I do not know exactly why it happened.

Thank you.


Originally posted by yoo00 on ROS Answers with karma: 25 on 2014-10-06

Post score: 0

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2 Answers 2

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Its because the launch file in openni_launch hasn't been updated to remove the slashes from the cameras frame_ids. You can edit the launch file openni.launch and remove the "/" from "/camera_rgb_optical_frame" (I cant remember exactly, but I think that launch file actually includes another file with a whole lot of parameters - which is the one you want to edit).


Originally posted by James Diprose with karma: 123 on 2014-10-06

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Original comments

Comment by yoo00 on 2014-10-06:
You're right! After I removed $(arg tf_prefix) prefixes in openni.launch file, it worked fine. Thank you James!

Comment by James Diprose on 2014-10-06:
No worries :)

Comment by Zari on 2015-06-09:
Hello, I could not solve this problem, Will you kindly explain it in more clear way? I could not find $(arg tf_prefix) in openni.launch. In my openni.launch file it is like this <arg name="rgb_frame_id" default="/$(arg camera)_rgb_optical_frame" /> Thanks

Comment by umair on 2016-06-13:
Hi Zari, in the default value, default="/$(arg camera)_rgb_optical_frame"/> there is a '/' right after '='. You need to remove that. Hope this helps.

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The Indigo version was updated to remove the leading slashes. Unfortunately, that was not a backwards-compatible change.

For those still needing tf_prefix, use this new launch file:

roslaunch openni_launch openni_tf_prefix.launch tf_prefix:=your_namespace

See: https://github.com/ros-drivers/openni_launch/commit/b82104e0cda183450ab1171e5f4ed4597cb9cf6c


Originally posted by joq with karma: 25443 on 2015-06-09

This answer was NOT ACCEPTED on the original site

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