Hello all,
For some time now I am trying to correctly setup my Asus Xtion Pro live sensor on my Raspberry Pi 3, which has a ROS Kinetic installed. I successfully added and compiled the openni2_camera and openni2_launch packages. Also I tested the sensor by either installing the pre-compiled libopenni2-dev library:
$ sudo apt-get libopenni2-dev
For Linux Debian - Jessie. Furthermore, I tested the sensor with compiling the OpenNI2 libraries from source and installing them according to:
http://www.ferienvillaflorida.de/labs//3d/sensors/2016/12/01/raspberry-pi.html
Finally, I copied the files:
$ cd OpenNi2/Bin/Arm-Release/OpenNI2/Drivers
$ sudo cp *.so /opt/ros/kinetic/lib
As indicated in: http://www.voidcn.com/blog/kristpan/article/p-4313301.html
It seams that the sensor as it is, works correctly in both cases (either pre-compiled openni2 libraries or compiling them from source), since I successfully run the ./SimpleRead test program inside the Openni2 library and it also works fine when I do the:
$ rosrun openni2_camera openni2_camera_node
and I am getting rgb, ir and depth camera images in Rviz (using the "image" component) at 30Hz.
The problems start when I am trying to get a 3D point cloud by launching:
$ roslaunch openni2_launch openni2.launch
Then I continuously getting the following error and I cannot overcome it so far:
... logging to /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/roslaunch-raspberrypi-1145.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://raspberrypi:42699/
SUMMARY
========
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: kinetic * /rosversion: 1.12.7
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 (tf2_ros/static_transform_publisher)
camera_base_link1 (tf2_ros/static_transform_publisher)
camera_base_link2 (tf2_ros/static_transform_publisher)
camera_base_link3 (tf2_ros/static_transform_publisher)
auto-starting new master process[master]: started with pid [1156] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 72747be2-62e2-11e7-bc03-b827ebcc4b86 process[rosout-1]: started with pid [1169] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [1172] process[camera/driver-3]: started with pid [1173] process[camera/rgb_rectify_color-4]: started with pid [1174] process[camera/depth_rectify_depth-5]: started with pid [1175] process[camera/depth_metric_rect-6]: started with pid [1176] process[camera/depth_metric-7]: started with pid [1177] process[camera/depth_points-8]: started with pid [1178] process[camera/register_depth_rgb-9]: started with pid [1179] process[camera/points_xyzrgb_sw_registered-10]: started with pid [1185] process[camera/depth_registered_sw_metric_rect-11]: started with pid [1205] process[camera_base_link-12]: started with pid [1231] process[camera_base_link1-13]: started with pid [1246] process[camera_base_link2-14]: started with pid [1258] process[camera_base_link3-15]: started with pid [1271] [ INFO] [1499411045.433073462]: Initializing nodelet with 4 worker threads.
And the following nodlet error appears:
[FATAL] [1499411048.689301785]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1499411048.690090427]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[FATAL] [1499411048.691229849]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[FATAL] [1499411048.691229849]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499411048.691981199]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499411048.692014376]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499411048.693764576]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499411048.694111137]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499411048.694939674]: Failed to load nodelet '/camera/driver` of type `openni2_camera/OpenNI2DriverNodelet` to manager `camera_nodelet_manager'
[camera/camera_nodelet_manager-2] process has died [pid 1172, exit code -11, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-camera_nodelet_manager-2.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-camera_nodelet_manager-2*.log
[camera/driver-3] process has died [pid 1173, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load openni2_camera/OpenNI2DriverNodelet camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered rgb/image:=rgb/image_raw depth/image:=depth_registered/image_raw __name:=driver __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-driver-3.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-driver-3*.log
[camera/rgb_rectify_color-4] process has died [pid 1174, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_raw image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-rgb_rectify_color-4.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-rgb_rectify_color-4*.log
[camera/depth_points-8] process has died [pid 1178, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_points-8.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_points-8*.log
[camera/points_xyzrgb_sw_registered-10] process has died [pid 1185, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-points_xyzrgb_sw_registered-10.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-points_xyzrgb_sw_registered-10*.log
[camera/depth_registered_sw_metric_rect-11] process has died [pid 1205, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_registered_sw_metric_rect-11.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_registered_sw_metric_rect-11*.log
[camera/depth_rectify_depth-5] process has died [pid 1175, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_rectify_depth-5.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_rectify_depth-5*.log
[camera/depth_metric_rect-6] process has died [pid 1176, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_metric_rect-6.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_metric_rect-6*.log
[camera/depth_metric-7] process has died [pid 1177, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_metric-7.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-depth_metric-7*.log
[camera/register_depth_rgb-9] process has died [pid 1179, exit code 255, cmd /home/pi/ros_catkin_ws/devel/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-register_depth_rgb-9.log].
log file: /home/pi/.ros/log/72747be2-62e2-11e7-bc03-b827ebcc4b86/camera-register_depth_rgb-9*.log
Does anybody have any ideas how to solve this problem?
Thank you in advance!!!
Originally posted by Zoid on ROS Answers with karma: 21 on 2017-07-07
Post score: 1
Original comments
Comment by Mehdi. on 2017-10-20:
for me it worked out of the box, but with 0.25 Hz, so 1 frame per 4 seconds, not really useful. All I had to install was ros-kinetic-openni2-launch, everything else comes automatically with that package. Make your life easier and install Ubuntu on the RPi3.
