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jsk_openni_kinect

jsk openni tools

Setup (trusty/inidgo)

Create catkin workspace

$ mkdir -p ~/catkin_ws/ws_jsk_openni_kinect/src
$ cd ~/catkin_ws/ws_jsk_openni_kinect
$ cd ~/catkin_ws/ws_jsk_openni_kinect
$ wstool init src
$ wstool set jsk_openni_kinect https://github.com/jsk-ros-pkg/jsk_openni_kinect --git
$ wstool set openni_tracker https://github.com/ros-drivers/openni_tracker --git
$ wstool update

Install missing apt package required to run this package

$ rosdep update
$ cd ~/catkin_ws/ws_jsk_openni_kinect
$ rosdep install -r -y --from-paths src --ignore-src

Create primesense-nite-nonfree and install

Install patched version of libopenni-sensor-primesense.sh for devices with ID 1d27:0609 ASUS

$ ./apt-get-intall-libopenni-sensor-primesense.sh

Get NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2 from somewhere and put it in this directory

$ ls -al NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2                                            ## make sure you have NITE-BIN
-rw-rw-r-- 1 k-okada k-okada 108732440  5月 25 20:39 NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2 
$ ./apt-get-intall-primesense-nite-nonfree.sh

To confirm you have successfully primesense-nite-nonfree,

$ ls -al /usr/include/nite          # check if include directory exists
$ ls -al /usr/lib/libXnVNite*       # check if library installed

Compile openni/nite packages

$ cd catkin_ws/ws_jsk_openni_kinect
$ catkin b

Run roslaunch and check if your device run correctly

$ roslaunch openni_launch openni.launch
$ rosrun openni_tracker openni_tracker _camera_frame_id:=camera_depth_frame

Troubleshooting

Run lsusb and check if your device correctly recognized by your OS

$ lsusb
$ Bus ○○○ Device ○○○: ID 1d27:0601 ASUS

If there is no device like "ASUS", the connected device seems to be broken.

Run NiViewer and check if you can run the device without NiTE function

$ NiViewer

If you have some error with this command, I recommend you to try

  1. disconnect the device
  2. sudo service udev restart
  3. connect the device again

Run sample program in NITE-Bin-Dev-Linux-x64-v1.5.2.23/Samples/Bin

$ ./Sample-Players