ros-drivers/rgbd_launch

Launchfiles for use with depth cameras.

rgbd_launch's Issues

GitHub: switch default branch

Just a minor thing, the default branch still points to indigo.

Release into ROS Kinetic

As of today bloom fails because of some ROS dependencies. Let's just wait and see for awhile.

Pre-verifying Debian dependency keys...
Running 'rosdep update'...
Could not resolve rosdep key 'depth_image_proc'
Failed to resolve depth_image_proc on ubuntu:wily with: Error running generator: Failed to resolve rosdep key 'depth_image_proc', aborting.
depth_image_proc is depended on by these packages: ['rgbd_launch']
<== Failed
Could not resolve rosdep key 'depth_image_proc'
Failed to resolve depth_image_proc on ubuntu:xenial with: Error running generator: Failed to resolve rosdep key 'depth_image_proc', aborting.
depth_image_proc is depended on by these packages: ['rgbd_launch']
<== Failed
Could not resolve rosdep key 'image_proc'
Failed to resolve image_proc on ubuntu:wily with: Error running generator: Failed to resolve rosdep key 'image_proc', aborting.
image_proc is depended on by these packages: ['rgbd_launch']
<== Failed
Could not resolve rosdep key 'image_proc'
Failed to resolve image_proc on ubuntu:xenial with: Error running generator: Failed to resolve rosdep key 'image_proc', aborting.
image_proc is depended on by these packages: ['rgbd_launch']
<== Failed

Doesn't work on ROS2

One of downstream packages that depend on rgbd_launch, openni2_launch, is being ported to ROS2 ros-drivers/openni2_camera#124. While I'm not yet sure if the dependency will be kept, we might as well assume it will?

Release for Jade

Thx for releasing that

not working with kinect v1

I am able to see the depth and rgb image with libfreenect library.
I am trying to use this package with ros kinetic, ubuntu 16.04 and kinect v1 with the following command.
roslaunch freenect_launch freenect.launch
However I am getting the errors messages. Please let me know if I am using the correct commands or is there any other problem.

hydro-upgrade-notice likely not runable on ROS Noetic

@130s FYI I noticed this while looking at ros/rosdistro#25278

The script hydro-upgrade-notice is being installed with a plain CMake install(). The shebangs of the installed script will reference python which on Focal is Python 2, and is probably not installed.

rgbd_launch/CMakeLists.txt

Lines 12 to 14 in 2420a14

	install(PROGRAMS scripts/hydro-upgrade-notice
	DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/
	)

They should actually be installed with catkin_install_python() as described on this ROS wiki page.

documentation

Hi, please document that package on the wiki and its relationship to openni_launch. Especially, the used topics (as was done for openni):
http://wiki.ros.org/openni_launch
Thank you.

dependency issues

Pay attention to the packages that depend on rgbd_launch when changing files here. the last commit requires changing the openni2.launch in openni2_launch because of the now unused machine arg...

Release for Indigo

@piyushk any timeline on an Indigo release? This package is currently blocking openni2_launch.

Failed to load nodelet

I would like to use OpenCV with GPU and ROS. So, I remove ros-kinetic-opencv3

then, I built everything from source
cv_bridge, astra.launch , rgbd_launch

all of them located in path ~catkin_ws/src/

before use rgbd_launch, the output:

roslaunch astra_camera astra.launch

WARNING: Package name "cvTest" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/roslaunch-redhwan-22944.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.

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
    p.start()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 655, in _recurse_load
    default_machine, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 685, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 589, in _include_tag
    inc_filename = self.resolve_args(tag.attributes['file'].value, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
    return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args
    resolved = _resolve_args(resolved, context, resolve_anon, commands)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args
    resolved = commands[command](resolved, a, args, context)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find
    source_path_to_packages=source_path_to_packages)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable
    full_path = _get_executable_path(rp.get_path(args[0]), path)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: rgbd_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/redhwan/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

after used rgbd_launch, the output:

roslaunch astra_camera astra.launch

WARNING: Package name "cvTest" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
... logging to /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/roslaunch-redhwan-24307.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.

WARNING: Package name "cvTest" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
started roslaunch server http://192.168.1.205:34591/

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/bootorder: 0
 * /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/devnums: 1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

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)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "cvTest" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[camera/camera_nodelet_manager-1]: started with pid [24324]
process[camera/driver-2]: started with pid [24325]
process[camera/rgb_rectify_color-3]: started with pid [24326]
process[camera/depth_rectify_depth-4]: started with pid [24328]
process[camera/depth_metric_rect-5]: started with pid [24351]
[ INFO] [1571145962.306623902]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric-6]: started with pid [24370]
process[camera/depth_points-7]: started with pid [24382]
process[camera/register_depth_rgb-8]: started with pid [24401]
[ERROR] [1571145962.322987179]: Failed to load nodelet [/camera/rgb_rectify_color] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.323035387]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.323143196]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
process[camera/points_xyzrgb_sw_registered-9]: started with pid [24415]
[ERROR] [1571145962.333979225]: Failed to load nodelet [/camera/depth_rectify_depth] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.334012442]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.334133622]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
process[camera/depth_registered_sw_metric_rect-10]: started with pid [24437]
process[camera_base_link-11]: started with pid [24447]
[ERROR] [1571145962.343619825]: Failed to load nodelet [/camera/depth_metric_rect] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.343662358]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.343764374]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
process[camera_base_link1-12]: started with pid [24457]
      477 INFO       New log started on 2019-10-15 22:26:02
      507 INFO       --- Filter Info --- Minimum Severity: VERBOSE
      531 VERBOSE    OpenNI 2.3.0 (Build 63)-Linux-x86 (May 13 2019 15:00:00)
      536 VERBOSE    Configuration file found at '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI.ini'
      575 VERBOSE    Using '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers' as driver path
      580 VERBOSE    Looking for drivers at '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers'
      655 VERBOSE    Loading device driver 'libOniFile.so'...
      665 WARNING    loading lib from: /home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/libOniFile.so

      882 VERBOSE    Loading device driver 'libPSLink.so'...
      891 WARNING    loading lib from: /home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/libPSLink.so

     1565 WARNING    LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping
     1584 WARNING    Couldn't use file 'libPSLink.so' as a device driver
     1593 VERBOSE    Loading device driver 'liborbbec.so'...
     1612 WARNING    loading lib from: /home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/liborbbec.so

     2203 INFO       New log started on 2019-10-15 22:26:02
     2223 INFO       --- Filter Info --- Minimum Severity: VERBOSE
     2228 VERBOSE    Initializing USB...
process[camera_base_link2-13]: started with pid [24471]
     5242 INFO       USB is initialized.
     5277 INFO       Device connected: Orbbec Astra (1d27/0601@1/11)
[ INFO] [1571145962.353374784]: Device "1d27/0601@1/11" found.
process[camera_base_link3-14]: started with pid [24488]
    19177 VERBOSE    Initialize: Already initialized
    19222 VERBOSE    Trying to open device by URI '1d27/0601@1/11'
    19664 VERBOSE    Initializing device sensor...
    19705 VERBOSE    Configuring module 'Device' from section 'Device' in file '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
    19742 INFO       Setting Device.UsbInterface to 2...
    19746 INFO       Device.UsbInterface value did not change.
    19998 INFO       Module 'Device' configuration was loaded from file.
    20003 VERBOSE    Connecting to USB device...
    20007 VERBOSE    Trying to open sensor '1d27/0601@1/11'...
    20057 INFO       USB is high Speed
    20061 VERBOSE    Starting libusb asynch thread...
    20096 WARNING    Failed to set thread priority (1)
    20103 WARNING    USB events thread: Failed to set thread priority to critical. This might cause loss of data...
Warning: USB events thread - failed to set priority. This might cause loss of data...
    20127 VERBOSE    Trying to open endpoint 0x4 for control out (for old firmwares)...
    20156 INFO       Connected to USB device
    22934 VERBOSE    Getting hardware versions...
    34601 INFO       Hardware versions: FW=5.8.22 (14) HW=6 Chip=3 Sensor=0 SYS=12
    46687 WARNING    Received NACK: 2
    46716 INFO       Reading CMOS 0 supported presets...
    50148 VERBOSE    Requesting KeepAlive...
    51054 VERBOSE    Got KeepAlive Reply.
    51076 VERBOSE    Setting mode to 3...
    71731 VERBOSE    Requesting KeepAlive...
[camera/rgb_rectify_color-3] process has died [pid 24326, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-rgb_rectify_color-3.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-rgb_rectify_color-3*.log
[camera/depth_rectify_depth-4] process has died [pid 24328, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_rectify_depth-4.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_rectify_depth-4*.log
   208581 VERBOSE    Got KeepAlive Reply.
   209565 VERBOSE    Getting the fixed params...
   215916 INFO       Reading sensor serial number...
   217090 VERBOSE    Sensor serial number: 1411070162
   217122 VERBOSE    Getting algorithm params 0x7 for resolution 0 and fps 0....
   220057 INFO       Reading sensor platform string...
   221276 VERBOSE    Property Firmware.ReferenceResolution was changed to 2.
   221315 VERBOSE    Reading all params from firmware...
   222427 VERBOSE    Property Firmware.ImageQuality (16) was changed to 3.
   223472 VERBOSE    Property Firmware.ImageSharpness (76) was changed to 32.
   226550 VERBOSE    Property Firmware.DepthGain (21) was changed to 42.
   234775 VERBOSE    Property Firmware.ImageBacklightCompensation (79) was changed to 1.
   245168 VERBOSE    Property Firmware.ImageAutoWhiteBalance (77) was changed to 1.
   247298 VERBOSE    Property Firmware.ImageLowLightCompensation (82) was changed to 1.
   248432 VERBOSE    Property Firmware.DepthHoleFilter (22) was changed to 1.
   257685 VERBOSE    Property Firmware.ImageAutoExposure (80) was changed to 1.
   261679 VERBOSE    Property Firmware.DepthWhiteBalance (45) was changed to 1.
   267053 VERBOSE    Property Firmware.ImageColorTemperature (78) was changed to 5000.
   268066 VERBOSE    Property Firmware.DepthFormat (18) was changed to 1.
   269079 VERBOSE    Property Firmware.ImageGain (15) was changed to 100.
   275942 VERBOSE    Firmware params were updated.
   276058 INFO       Property Device.PhysicalDeviceName was changed to ASUS Xtion.
   276075 INFO       Property Device.VendorData was changed to Xtion00003110.
   276085 INFO       Property Device.ID was changed to 1411070162.
   276094 INFO       Property Device.SensorPlatformString was changed to RD108x-112.
   277183 WARNING    Received NACK: 2
   277219 ERROR      Support sub cmd error!
   277231 INFO       Device sensor initialized
[camera/depth_metric_rect-5] process has died [pid 24351, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_metric_rect-5.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_metric_rect-5*.log
   359429 INFO       Creating stream 'IR' of type 'IR'...
   359465 INFO       Setting Device.ReadData to 1...
   359810 VERBOSE    Setting USB alternative interface to 0...
   372125 VERBOSE    Opening endpoints...
   372151 VERBOSE    Opening endpoint 0x81 for depth...
   372286 VERBOSE    Depth endpoint is bulk.
   372300 VERBOSE    Opening endpoint 0x82 for image...
   372362 VERBOSE    Image endpoint is bulk.
   372373 VERBOSE    Opening endpoint 0x83 for misc...
   372436 VERBOSE    Misc endpoint is not supported...
   372447 INFO       Endpoints open
   372855 VERBOSE    Getting algorithm params 0x80 for resolution 0 and fps 0....
   374413 INFO       Property Device.ReadData was changed to 1.
   374443 INFO       Reading CMOS 0 supported presets...
   377332 INFO       Device.ReadData was successfully set.
   377780 VERBOSE    Initializing stream 'IR'...
   377838 INFO       Property IR.Resolution was changed to QVGA.
   377858 INFO       Property IR.XRes was changed to 320.
   377878 INFO       Property IR.YRes wa```
```s changed to 240.
   377898 INFO       Property IR.FPS was changed to 30.
   377918 INFO       Property IR.OutputFormat was changed to 203.
   377937 INFO       Property IR.BytesPerPixel was changed to 2.
   377957 INFO       Property IR.RequiredDataSize was changed to 158720.
   377983 INFO       Property IR.SupportedModesCount was changed to 17.
   377999 INFO       Property IR.Mirror was changed to 1.
   378023 INFO       Stream 'IR' was initialized.
   378039 INFO       'IR' stream was created.
   378055 VERBOSE    Configuring module 'IR' from section 'IR' in file '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
   378662 INFO       Setting IR.Resolution to 640x400...
   378678 INFO       Property IR.Resolution was changed to 640x400.
   378688 INFO       Property IR.XRes was changed to 640.
   378697 INFO       Property IR.RequiredDataSize was changed to 317440.
   378707 INFO       Property IR.YRes was changed to 400.
   378715 INFO       Property IR.RequiredDataSize was changed to 522240.
   378727 INFO       IR.Resolution was successfully set.
   378993 INFO       Module 'IR' configuration was loaded from file.
   379663 INFO       Setting IR.OutputFormat to 203...
   379681 INFO       IR.OutputFormat value did not change.
   379690 INFO       Setting IR.FPS to 30...
   379698 INFO       IR.FPS value did not change.
   379706 INFO       Setting IR.XRes to 640...
   379714 INFO       IR.XRes value did not change.
   379722 INFO       Setting IR.YRes to 480...
   379736 INFO       Property IR.Resolution was changed to VGA.
   379754 INFO       Property IR.YRes was changed to 480.
   379772 INFO       Property IR.RequiredDataSize was changed to 624640.
   379792 INFO       IR.YRes was successfully set.
   379909 INFO       Creating stream 'Image' of type 'Image'...
   380406 VERBOSE    Initializing stream 'Image'...
   380466 INFO       Property Image.Resolution was changed to QVGA.
   380486 INFO       Property Image.XRes was changed to 320.
   380506 INFO       Property Image.YRes was changed to 240.
   380525 INFO       Property Image.FPS was changed to 30.
   380539 INFO       Property Image.OutputFormat was changed to 200.
   380557 INFO       Property Image.BytesPerPixel was changed to 3.
   380575 INFO       Property Image.RequiredDataSize was changed to 230400.
   380648 INFO       Property Image.HorizontalFov was changed to 1.022600.
   380670 INFO       Property Image.VerticalFov was changed to 0.796616.
   380706 INFO       Setting Image.Exposure to 0...
   380722 INFO       Image.Exposure value did not change.
   380738 INFO       Setting Image.Gain to 100...
   380755 INFO       Image.Gain value did not change.
   380770 INFO       Property Image.SupportedModesCount was changed to 25.
   380790 INFO       Property Image.InputFormat was changed to 1.
   380811 INFO       Property Image.FirmwareMirror was changed to 1.
   380831 INFO       Property Image.Mirror was changed to 1.
   380846 INFO       Stream 'Image' was initialized.
   380862 INFO       'Image' stream was created.
   380882 VERBOSE    Configuring module 'Image' from section 'Image' in file '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
   381059 INFO       Setting Image.InputFormat to 5...
   381074 INFO       Property Image.InputFormat was changed to 5.
   381083 INFO       Image.InputFormat was successfully set.
   381613 INFO       Setting Image.Resolution to VGA...
   381628 INFO       Property Image.Resolution was changed to VGA.
   381637 INFO       Property Image.XRes was changed to 640.
   381647 INFO       Property Image.RequiredDataSize was changed to 460800.
   381662 INFO       Property Image.YRes was changed to 480.
   381679 INFO       Property Image.RequiredDataSize was changed to 921600.
   381698 INFO       Image.Resolution was successfully set.
   382066 INFO       Module 'Image' configuration was loaded from file.
   382340 INFO       Creating stream 'Depth' of type 'Depth'...
   386428 VERBOSE    Initializing stream 'Depth'...
   386532 INFO       Property Depth.OutputFormat was changed to 100.
   386562 INFO       Property Depth.BytesPerPixel was changed to 2.
   386586 INFO       Property Depth.RequiredDataSize was changed to 614400.
   386738 INFO       Property Depth.MaxDepth was changed to 65534.
   386884 INFO       Property Depth.SupportedModesCount was changed to 47.
   386912 INFO       Property Depth.Resolution was changed to QVGA.
   386934 INFO       Property Depth.XRes was changed to 320.
   386958 INFO       Property Depth.RequiredDataSize was changed to 307200.
   386980 INFO       Property Depth.YRes was changed to 240.
   387003 INFO       Property Depth.RequiredDataSize was changed to 153600.
   387026 INFO       Property Depth.FPS was changed to 30.
   387047 INFO       Property Depth.ParamCoeff was changed to 4.
   387134 INFO       Property Depth.ShiftScale was changed to 10.
   387234 VERBOSE    Getting algorithm params 0x0 for resolution 1 and fps 30....
   397235 INFO       Property Depth.ConstShift was changed to 200.
   397332 INFO       Property Depth.ZPD was changed to 120.000000.
   397439 INFO       Property Depth.ZPPS was changed to 0.105200.
   397453 INFO       Property Depth.LDDIS was changed to 7.500000.
   397568 INFO       Property Depth.DCRCDIS was changed to 2.630000.
   402539 INFO       Property Depth.HorizontalFov was changed to 1.022600.
   402585 INFO       Property Depth.VerticalFov was changed to 0.796616.
   402869 VERBOSE    cmostype: 1 m_VerticalFOV: 0.796616, m_HorizontalFOV: 1.022600
   402898 INFO       Property Depth.Gain was changed to 42.
   402917 VERBOSE    Getting algorithm params 0x2 for resolution 4 and fps 30....
   413116 VERBOSE    Getting algorithm params 0x2 for resolution 0 and fps 30....
   423328 VERBOSE    Getting algorithm params 0x2 for resolution 1 and fps 30....
   433584 VERBOSE    Getting algorithm params 0x3 for resolution 4 and fps 30....
   443448 VERBOSE    Getting algorithm params 0x3 for resolution 0 and fps 30....
   454060 VERBOSE    Getting algorithm params 0x3 for resolution 1 and fps 30....
   512127 INFO       Property Depth.FirmwareMirror was changed to 1.
   512141 INFO       Property Depth.Mirror was changed to 1.
   512147 INFO       Stream 'Depth' was initialized.
   512149 INFO       'Depth' stream was created.
   512153 VERBOSE    Configuring module 'Depth' from section 'Depth' in file '/home/redhwan/catkin_ws/src/ros_astra_camera/include/openni2_redist/x64/OpenNI2/Drivers/orbbec.ini'...
   512205 INFO       Setting Depth.InputFormat to 3...
   512210 INFO       Depth.InputFormat was successfully set.
   512520 INFO       Setting Depth.Resolution to 640x400...
   512524 INFO       Property Depth.Resolution was changed to 640x400.
   512528 INFO       Property Depth.XRes was changed to 640.
   512531 INFO       Property Depth.RequiredDataSize was changed to 307200.
   512534 INFO       Property Depth.YRes was changed to 400.
   512537 INFO       Property Depth.RequiredDataSize was changed to 512000.
   512540 INFO       Depth.Resolution was successfully set.
   512710 INFO       Module 'Depth' configuration was loaded from file.
   512814 INFO       Setting Depth.OutputFormat to 100...
   512821 INFO       Depth.OutputFormat value did not change.
   512824 INFO       Setting Depth.FPS to 30...
   512832 INFO       Depth.FPS value did not change.
   512837 INFO       Setting Depth.XRes to 640...
   512842 INFO       Depth.XRes value did not change.
   512846 INFO       Setting Depth.YRes to 480...
   512852 INFO       Property Depth.Resolution was changed to VGA.
   512858 INFO       Property Depth.YRes was changed to 480.
   512862 INFO       Property Depth.RequiredDataSize was changed to 614400.
   512868 INFO       Depth.YRes was successfully set.
   512899 INFO       Setting Depth.Registration to 0...
   512902 INFO       Depth.Registration value did not change.
   512921 INFO       Setting Image.AutoExposure to 1...
   512923 INFO       Image.AutoExposure value did not change.
   512930 INFO       Setting Image.AutoWhiteBalance to 1...
   512934 INFO       Image.AutoWhiteBalance value did not change.
[ERROR] [1571145962.894584914]: Failed to load nodelet [/camera/depth_metric] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.894617758]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.894818452]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[ERROR] [1571145962.902021193]: Failed to load nodelet [/camera/depth_points] of type [depth_image_proc/point_cloud_xyz] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.902084226]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.902223803]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[ERROR] [1571145962.909661733]: Failed to load nodelet [/camera/register_depth_rgb] of type [depth_image_proc/register] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/register with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.909686156]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/register with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.909870031]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[ERROR] [1571145962.916954359]: Failed to load nodelet [/camera/points_xyzrgb_sw_registered] of type [depth_image_proc/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.916978653]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.917171585]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[ERROR] [1571145962.925310065]: Failed to load nodelet [/camera/depth_registered_sw_metric_rect] of type [depth_image_proc/convert_metric] even after refreshing the cache: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1571145962.925370553]: The error before refreshing the cache was: According to the loaded plugin descriptions the class depth_image_proc/convert_metric with base class type nodelet::Nodelet does not exist. Declared types are  astra_camera/AstraDriverNodelet astra_camera/driver libuvc_camera/driver openni2_camera/OpenNI2DriverNodelet openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1571145962.925585002]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[camera/depth_metric-6] process has died [pid 24370, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_metric-6.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_metric-6*.log
[camera/depth_points-7] process has died [pid 24382, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_points-7.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_points-7*.log
[camera/register_depth_rgb-8] process has died [pid 24401, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-register_depth_rgb-8.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-register_depth_rgb-8*.log
[camera/points_xyzrgb_sw_registered-9] process has died [pid 24415, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-points_xyzrgb_sw_registered-9.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-points_xyzrgb_sw_registered-9*.log
[camera/depth_registered_sw_metric_rect-10] process has died [pid 24437, exit code 255, cmd /opt/ros/kinetic/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/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_registered_sw_metric_rect-10.log].
log file: /home/redhwan/.ros/log/e16a2ec8-ef41-11e9-9033-1c1b0d1de755/camera-depth_registered_sw_metric_rect-10*.log

How to register rgb and depth for gazebo?

Hello,
do you know how i can register the two data flows in gazebo?

sudo apt-get install ros-kinetic-rgbd-launch

~/catkin_ws$ sudo apt-get install ros-kinetic-rgbd-launch

Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-kinetic-rgbd-launch

Missing convert_metric node in depth_registered.launch.xml

depth.launch.xml includes a node that converts the raw depth image to a distance-in-meters image that is displayable with image_view and useful for querying. Please add this node to depth_registered.launch.xml:

  <!-- Rectified depth image -->
  <node pkg="nodelet" type="nodelet" name="$(arg depth_registered)_metric_rect"
        args="load depth_image_proc/convert_metric $(arg manager) $(arg bond)"
        respawn="$(arg respawn)">
    <remap from="image_raw" to="$(arg depth_registered)/image_rect_raw" />
    <remap from="image"     to="$(arg depth_registered)/image_rect" />
  </node>

  <!-- Unrectified depth image -->
  <node pkg="nodelet" type="nodelet" name="$(arg depth_registered)_metric"
        args="load depth_image_proc/convert_metric $(arg manager) $(arg bond)"
        respawn="$(arg respawn)">
    <remap from="image_raw" to="$(arg depth_registered)/image_raw" />
    <remap from="image"     to="$(arg depth_registered)/image" />
  </node>

Release a new release

Ok, it looks like openni2_launch is ready for a release, could you release a new set of debs so that #1 is included. Thanks!

roslaunch openni_launch openni.launch doesn't work & No image in rviz for both hydro and fuerte version

Hi,

I just installed rgbd_launch, and entered $ roslaunch openni_launch openni.launch 

in the terminal. Here is the following display.

setting /run_id to fdd70510-d59b-11e3-b2a9-9c4e36a03c1c
process[rosout-1]: started with pid [25454]
started core service [/rosout]
process[camera_nodelet_manager-2]: started with pid [25466]
process[camera/driver-3]: started with pid [25467]
[ INFO] [1399435172.723175739]: Initializing nodelet with 4 worker threads.
process[camera/rgb/debayer-4]: started with pid [25522]
process[camera/rgb/rectify_mono-5]: started with pid [25556]
process[camera/rgb/rectify_color-6]: started with pid [25678]
process[camera/ir/rectify_ir-7]: started with pid [25735]
process[camera/depth/rectify_depth-8]: started with pid [25814]
process[camera/depth/metric_rect-9]: started with pid [25910]
process[camera/depth/metric-10]: started with pid [26000]
process[camera/depth/points-11]: started with pid [26094]
process[camera/register_depth_rgb-12]: started with pid [26118]
process[camera/depth_registered/rectify_depth-13]: started with pid [26150]
[ERROR] [1399435174.010066993]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1399435174.016265320]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
process[camera/depth_registered/metric_rect-14]: started with pid [26236]
[ERROR] [1399435174.029595103]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
process[camera/depth_registered/metric-15]: started with pid [26322]
process[camera/points_xyzrgb_depth_rgb-16]: started with pid [26387]
process[camera/disparity_depth-17]: started with pid [26416]
process[camera/disparity_depth_registered-18]: started with pid [26448]
process[camera_base_link-19]: started with pid [26477]
process[camera_base_link1-20]: started with pid [26493]
[ INFO] [1399435174.820644720]: Number devices connected: 1
[ INFO] [1399435174.820768048]: 1. device on bus 001:10 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00366616417103B'
[ INFO] [1399435174.821742527]: Searching for device with index = 1
process[camera_base_link2-21]: started with pid [26508]
[ INFO] [1399435174.865119388]: Opened 'Xbox NUI Camera' on bus 1:10 with serial number 'B00366616417103B'
[ INFO] [1399435174.884738732]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1399435174.884824412]: depth_frame_id = '/camera_depth_optical_frame'
[ WARN] [1399435174.888068958]: Camera calibration file /home/lili/.ros/camera_info/rgb_B00366616417103B.yaml not found.
[ WARN] [1399435174.888143330]: Using default parameters for RGB camera calibration.
[ WARN] [1399435174.888205323]: Camera calibration file /home/lili/.ros/camera_info/depth_B00366616417103B.yaml not found.
[ WARN] [1399435174.888254013]: Using default parameters for IR camera calibration.
process[camera_base_link3-22]: started with pid [26672]

When I open rviz, there is no image display.

Could anyone provide some suggestions? Many thanks in advance!

naming of camera frames not inuitive

When having multiple cameras e.g. camera and camera2 I would expect the corresponding camera base frames to be camera/camera_link and camera2/camera_link. But instead, camera frames are generated as

$(arg tf_prefix)/$(arg camera)_XXX

which results in camera/camera_link and camera2/camera2_link. IMO, camera frames should be generated like the following, as this is more intuitive. In other words, only the tf_prefix should be taken into account when generating frame names.

$(arg tf_prefix)/camera_XXX

Anyway to generate pointcloud from compressd depth image?

For depth camera of relatively high resolution and high frame rate, or for computing platform which have limited resources, the pointcloud data is generated direcly from camera/depth/image_raw(or other raw depth images), which would cause the pointcloud data is relatively huge.
During my test with Astra Pro with rqt_topic (topic monitor), /camera/depth/points could reach 80M/s data rate. To generate this message consume a lot of CPU.

So I'm wondering if there is a possible way to configure processing.launch.xml, so that the package could generate pointcloud from topics like /camera/depth/image_raw/compressed?

Noetic release?

Posting this publicly (although I already communicated it to @130s) - I've tested this as a source build in Noetic, all looks to be working. The only change that will be needed is to bump the first line of CMakeLists.txt to:

cmake_minimum_required(VERSION 3.0.2)

But this only supports Kinetic+ - so not sure if you want to create a new branch for that.

Pull request changed default behaviour

Pull request #2 does indeed change default behaviour. In summary, it is possible to declare a machine to be the default in a roslaunch file, which propagates through included roslaunch files. The change merged in by pull request #2 overrides this default, requiring the user to pass in an argument named "machine" to use anything other than localhost.

As an example of how this breaks default behaviour, I have a roslaunch file that includes 3dsensor.launch from the turtlebot_bringup package. This roslaunch file is invoked on a machine that is not a turtlebot, but by making use of the default attribute for the machine tag, I am able to have everything created by 3dsensor.launch happen on a turtlebot that is accessible on my local network. My code worked in ROS Groovy, and it should work in ROS Hydro, unchanged. However, the nodelet manager is invoked on my local machine, rather than the desired turtlebot. When I manually undo the changes from that merge, my roslaunch file completes as expected.

Could you roll back the changes caused by pull request #2?

Disparity not published

Hello, I've found out that the disparity is not being published when doing:

roslaunch openni2_launch openni2.launch disparity_processing:=true

Which, in itself, it's calling disparity.launch.xml from this package.

What I've found out is that https://github.com/ros-drivers/rgbd_launch/blob/hydro-devel/launch/includes/disparity.launch.xml#L17

projector must be the same as depth in order to get the (synchronized) camera info with the depth image. If not this hangs forever waiting for a synchronized depth img + camera info.

I got it to publish making the change to
(As I see this argument called projector is on other places too).

I'm still testing this, thats why I don't make directly a pull request but I would like to get some feedback from your part.

After getting it to publish I see it publishes data that makes no sense and I get this error:
rosrun image_view disparity_view image:=/camera/depth/disparity
[ERROR] [1395146613.368389631]: Disparity image fields min_disparity and max_disparity are not set

Although in the launcher there is:

This may have something to do with the file where all this is read:
https://github.com/ros-perception/image_pipeline/blob/hydro-devel/depth_image_proc/src/nodelets/disparity.cpp

Any leads on rgbd_launch for ros Melodic.

Consolidate rgbd repositories into a single repo

Please see ros-drivers/openni_launch#30 and continue discussion there.

Is is possible to publish both "depth_registered/points" and "depth/color/points" for pointcloud topics?

I am working on a large scale project and I want to use rs_rgbd.launch given in realsense2_camera package, which uses this repo, to publish depth_registered/points but my teammates are also using depth/color/points topic. Is it possible to arrange launch file in such a way that both topics would be published?

Release request 2.1.4

I think #28 is a major update enough to release new version and we need it for CI on other repositories.
Cc: @130s