Openni Realsense (No device connected . . . .)

[TonderaiZR]

Hello Guys

I have a ubuntu 14.01 intel nuc computer and ROS indigo installed. I am trying to launch openni
with the realsense camera . I have openni install as:

sudo apt-get install ros-indigo-openni-launch

roslaunch openni_launch openni.launch

I keep getting no device connected message.

Please help.

[BlazingForests]

@tondy Hi
This ROS package is independent of OpenNI.
You can read the README file to use it.

After you done,If you have any question,Please tell me.
Thx
DD

[TonderaiZR]

Hello Blazing

Ok. So I trying to do some SLAM and acml. To do it you nee a launch file to get the point cloud data and convert it to laser scan data for this to work which I thought why openni would be necessary. Does the library have this feature?

[BlazingForests]

@tondy Hi

Did you means 2D SLAM?

This ROS package publish two topics (The type is sensor_msgs::PointCloud2)

/camera/depth/points point cloud without RGB like OpenNI /camera/depth/points
/camera/depth_registered/points point cloud with RGB

I think your can use this package to run your application.

THX
DD

[TonderaiZR]

I meant using pointcloud_to_laserscan http://wiki.ros.org/pointcloud_to_laserscan. The problem is the pointcloud to laserscan package requires openni to run!

[BlazingForests]

@tondy Hi

You just need modify the sample_node.launch file.

Replace

    <!-- start sensor-->
    <include file="$(find openni2_launch)/launch/openni2.launch">
        <arg name="camera" default="$(arg camera)"/>
    </include>

with

    <!-- start sensor-->
    <include file="$(find realsense_camera)/launch/realsense_camera.launch" />

and

Replace

 <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>

with

 <remap from="cloud_in" to="/camera/depth_registered/points"/>

[TonderaiZR]

Hello Thank you that worked with sample_node.launch when trying do this with a launch file for a turtlebot replicate robot. Using the launch file below this error appears: Not sure whats happening?

unused args [num_worker_threads, rgb_processing, publish_tf, depth_registration, depth_processing, ir_processing, disparity_processing, disparity_registered_processing, depth_registered_processing] for include of [/home/tondy/catkin_ws/src/realsense_camera/launch/realsense_camera.launch]
The traceback for the exception was written to the log file

start_laser1.txt

[BlazingForests]

@tondy Hi

realsense_camera.launch don't have this args.

I think you need found out what topic are you need to use in the "to_laserscan" application.

I take a look of your start_laser1.txt file, I think you need "/camera/depth/image_raw" and "/camera/depth/camera_info" and some the others.

Then write your new launch file to set them.

This package's publish topics

default

sensor_msgs::PointCloud2
/camera/depth/points point cloud without RGB
/camera/depth_registered/points point cloud with RGB

sensor_msgs::Image
/camera/rgb/image_raw raw image for RGB sensor
/camera/depth/image_raw raw image for depth sensor
/camera/ir/image_raw raw image for infrared sensor

sensor_msgs::CameraInfo
/camera/rgb/camera_info cameraInfo for RGB sensor
/camera/depth/camera_info cameraInfo for depth sensor
/camera/ir/camera_info cameraInfo for infrared sensor

THX
DD

[TonderaiZR]

Hello DD

I thank you so much for the help. After spending hours of trail and error. I got rid of most of the errors:
Except this one:
/home/tondy/catkin_ws/src/fake_laser_pkg/launch/start_laser.launch] requires the 'depth' arg to be set
The traceback for the exception was written to the log file

Please have a look at start_laser.txt. If it works we can add the launch file to the current source
code so others can use it.The pointcloud_to_laserscan is vital for people looking to do slam with the real sense for autonomous navigation.

Kind regards.
Thanks

start_laser.txt

[BlazingForests]

@tondy Hi

I think you just need modify

<remap from="image" to="$(arg camera)/$(arg depth)/image_raw"/>
...
<remap from="$(arg camera)/image" to="$(arg camera)/$(arg depth)/image_raw"/>

to

<remap from="image" to="$(arg camera)/depth/image_raw"/>
...
<remap from="$(arg camera)/image" to="$(arg camera)/depth/image_raw"/>

Thx
DD