I'm trying to pull point/depth cloud data off of a Kinect on a turtlebot, and I'm having problems. I start the turtlebot and openni with the standard commands (in different terminals):
roslaunch turtlebot_bringup minimal.launch roslaunch openni_launch openni.launch
and open up rviz on my control workstation. So far, so good - everything starts without errors, and I can plot a pointcloud using the raw depth data. Unfortunately, what I actually need is the registered depth data. This isn't available unless I set depth_registration:=true (either using the reconfigure tool or by restarting openni). If I do this, the registered depth data does show up, but the depth image is all zeros and the pointclouds are full of NaNs.
I'm running Ubuntu 14.04 on a 32-bit netbook, and using ROS Indigo (installed from PPA, except for the rocon, kobuki and turtlebot packages, which I compiled).
I know this is not a new problem (see http://answers.ros.org/question/53706/registered-depth-image-is-black/), but all the other posts I've been able to find were from a year ago, with old versions of Ubuntu/ROS, and it seems like the issue was eventually resolved by software updates... at least until now.
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