'process has died' while executing openni.launch with Kinect1

[blueeaglex]

Hardware:1.kinect1.0 for xbox360
2.PC with usb2.0
Software: Ubuntu16.04 LTS, ros-kinetic-desktop-full
I tried to excute openni.launch and get these errors:

`auto-starting new master
process[master]: started with pid [9207]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c588874-654d-11e7-ab6f-00e0b412588a
process[rosout-1]: started with pid [9220]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [9237]
process[camera/driver-3]: started with pid [9238]
process[camera/rgb_debayer-4]: started with pid [9239]
process[camera/rgb_rectify_mono-5]: started with pid [9245]
process[camera/rgb_rectify_color-6]: started with pid [9258]
process[camera/ir_rectify_ir-7]: started with pid [9267]
process[camera/depth_rectify_depth-8]: started with pid [9282]
[ INFO] [1499676940.858628822]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-9]: started with pid [9297]
process[camera/depth_metric-10]: started with pid [9322]
process[camera/depth_points-11]: started with pid [9337]
process[camera/register_depth_rgb-12]: started with pid [9343]
process[camera/points_xyzrgb_sw_registered-13]: started with pid [9349]
process[camera/depth_registered_sw_metric_rect-14]: started with pid [9366]
process[camera/depth_registered_rectify_depth-15]: started with pid [9378]
process[camera/points_xyzrgb_hw_registered-16]: started with pid [9387]
process[camera/depth_registered_hw_metric_rect-17]: started with pid [9391]
process[camera/depth_registered_metric-18]: started with pid [9412]
process[camera/disparity_depth-19]: started with pid [9420]
process[camera/disparity_registered_sw-20]: started with pid [9424]
process[camera/disparity_registered_hw-21]: started with pid [9432]
process[camera_base_link-22]: started with pid [9443]
process[camera_base_link1-23]: started with pid [9445]
process[camera_base_link2-24]: started with pid [9463]
process[camera_base_link3-25]: started with pid [9471]
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1499676943.699963616]: Number devices connected: 2
[ INFO] [1499676943.800937024]: 1. device on bus 001:17 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0'
[ INFO] [1499676943.801022556]: 2. device on bus 001:17 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00363920469048A'
[ INFO] [1499676943.802363361]: Searching for device with index = 1
[camera/camera_nodelet_manager-2] process has died [pid 9237, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-camera_nodelet_manager-2.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-camera_nodelet_manager-2*.log
[FATAL] [1499676955.288648044]: Failed to load nodelet '/camera/points_xyzrgb_hw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289234539]: Failed to load nodelet '/camera/depth_registered_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289355207]: Failed to load nodelet '/camera/depth_registered_hw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289450084]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289567134]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289666340]: Failed to load nodelet '/camera/disparity_depth` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289845471]: Failed to load nodelet '/camera/disparity_registered_sw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290129104]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290254835]: Failed to load nodelet '/camera/ir_rectify_ir` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290365995]: Failed to load nodelet '/camera/driver` of type `openni_camera/driver` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291081899]: Failed to load nodelet '/camera/depth_registered_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291270966]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291462331]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291763068]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291935707]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291971826]: Failed to load nodelet '/camera/disparity_registered_hw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291957955]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[camera/driver-3] process has died [pid 9238, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load openni_camera/driver camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-driver-3.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-driver-3*.log
[camera/depth_metric-10] process has died [pid 9322, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric-10.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric-10*.log
[camera/ir_rectify_ir-7] process has died [pid 9267, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=ir_rectify_ir __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-ir_rectify_ir-7.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-ir_rectify_ir-7*.log
[camera/depth_points-11] process has died [pid 9337, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_points-11.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_points-11*.log
[camera/depth_registered_sw_metric_rect-14] process has died [pid 9366, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_sw_metric_rect-14.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_sw_metric_rect-14*.log
[camera/depth_registered_rectify_depth-15] process has died [pid 9378, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_rectify_depth-15.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_rectify_depth-15*.log
[camera/points_xyzrgb_hw_registered-16] process has died [pid 9387, 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/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_hw_registered-16.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_hw_registered-16*.log
[camera/rgb_rectify_color-6] process has died [pid 9258, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-rgb_rectify_color-6.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-rgb_rectify_color-6*.log
[camera/depth_rectify_depth-8] process has died [pid 9282, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_rectify_depth-8.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_rectify_depth-8*.log
[camera/depth_metric_rect-9] process has died [pid 9297, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric_rect-9.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric_rect-9*.log
[camera/register_depth_rgb-12] process has died [pid 9343, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-register_depth_rgb-12.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-register_depth_rgb-12*.log
[camera/points_xyzrgb_sw_registered-13] process has died [pid 9349, 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/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_sw_registered-13.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_sw_registered-13*.log
[camera/depth_registered_hw_metric_rect-17] process has died [pid 9391, 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/hw_registered/image_rect_raw image:=depth_registered/hw_registered/image_rect __name:=depth_registered_hw_metric_rect __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_hw_metric_rect-17.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_hw_metric_rect-17*.log
[camera/depth_registered_metric-18] process has died [pid 9412, 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/image_raw image:=depth_registered/image __name:=depth_registered_metric __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_metric-18.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_metric-18*.log
[camera/disparity_depth-19] process has died [pid 9420, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_depth-19.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_depth-19*.log
[camera/disparity_registered_sw-20] process has died [pid 9424, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_sw-20.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_sw-20*.log
[camera/disparity_registered_hw-21] process has died [pid 9432, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/hw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_hw __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_hw-21.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_hw-21*.log`

I tried the ideas of these links:
http://answers.ros.org/question/53089/ubuntu-1210-groovy-openni-usb30-working/
http://answers.ros.org/question/135266/problem-running-openni_launchlaunch-failed-to-load-nodelet-cameradriver-of-type-openni_cameradriver-could-not-find-library-corresponding-to-plugin/
http://answers.ros.org/question/54863/camera_nodelet_manager-1-process-has-died-error-with-kinect/

But it doesn't work.
I can run the standalone NIViewer with kinect. So I think the kinect driver should be OK on ubuntu 16.04 LTS.
Has anyone found the way to walk through this?
I think this issue may have sth. to do with this one:
#18

[130s]

Can you try #52 as mentioned in #18 (comment) and see if that fixes your issue?

[blueeaglex]

@130s I tried. But I got compile error:
In member function ‘void openni_camera::DriverNodelet::onInitImpl()’: /home/pdw/dev/openni_catkin_ws/src/openni_camera/src/nodelets/driver.cpp:149:3: error: ‘LoggerPtr’ is not a member of ‘log4cxx’

[blueeaglex]

@130s
Does the branch 'rollback_usb' work with kinetic?

[130s]

Does the branch 'rollback_usb' work with kinetic?

Only based on my assumption below with #52, yes it can/might work on ROS Kinetic:

• [fix] #18 "OpenNI Driver fails to set USB interface after update to 1.8.9" #52 is targeted to indigo-devel branch, which is the latest for this repo.
• CI result where Kinetic is tested passed without an issue.
  • This doesn't necessarily mean that every possible usecase is tested though.
  • Note that tests on CI run WITHOUT the actual hardware.

[blueeaglex]

@130s
I succeed compiling your commits below with #52.
And I download the openni_launch package.
This time I got a bit different things after I excuted openni.launch:
[ INFO] [1499826307.214740439]: Number devices connected: 2 [ INFO] [1499826307.214866068]: 1. device on bus 001:11 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '' [ INFO] [1499826307.214929254]: 2. device on bus 001:11 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00363920469048A' [ INFO] [1499826307.216282417]: Searching for device with index = 1 nodelet: /usr/include/boost/smart_ptr/shared_ptr.hpp:641: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = xn::NodeInfo; typename boost::detail::sp_dereference<T>::type = xn::NodeInfo&]: Assertion px != 0' failed.
[camera/camera_nodelet_manager-1] process has died [pid 16461, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pdw/.ros/log/3149da4e-66a8-11e7-8e89-00e0b412588a/camera-camera_nodelet_manager-1.log].
`

[blueeaglex]

@130s
I think I've got something.
It looks like the detectet serial id of SensorKinect is invalid.
It shouldn't be 0 or empty.

[blueeaglex]

@130s When I compile the code，I see lots of warning like this

Using deprecated functions. Should I install an old version of openni?

[blueeaglex]

@130s I've already got the point.
The function OpenNIDriver::updateDeviceList() returns two device item when I conect my kinect sensor to my pc. But as you can see,the first one's serial ID is invalid.

So I jump over the first one:

And the program just run normal now!
But it's not over. This is just a temp solution. I need time to locate the actual code where the bug comes from. Or maybe It is just because of the driver?
Do you have any suggestions?

[blueeaglex]

This issue finally comes to an end. @fmnoori
All problems come from that I ever installed http://github.com/avin2/SensorKinect.git
There was no need for this driver.
After I uninstalled the driver,there was no output of 'device on bus XXX is a SensorKinect' with a invalid serial id any more but only a normal 'Xbox NUI Camera' with an valid serial id.
Topic solved for now. :)
But it is still hard to know what's going on with openni_camera. The standalone OpenNI was NEVER disturbed by the incorrect driver I installed but openni_camrea was. @130s
Maybe I could figure that out anthor day after I finish my job.

[TanayaBhave]

@blueeaglex How to uninstall the driver ? Could you please tell me the command

[leocorp96]

@TanayaBhave
In the {/home/user/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1} directory, run;
sudo ./install.sh -u

[leocorp96]

@blueeaglex
The camera_nodelet_manager dies when I subscribe to any topic using RViz. Any ideas how to solve this issue?

[Wleisure95]

@blueeaglex
当我使用RViz订阅任何主题时，camera_nodelet_manager死亡。任何想法如何解决这个问题？

我也是，你解决了吗？求教

[130s]

@blueeaglex Thanks for tracking the issue down!

The standalone OpenNI was NEVER disturbed by the incorrect driver I installed but openni_camrea was.

I'm not exactly sure what you mean by this, but IMO the dependency on the proprietary driver is defined in package.xml in this line so that it automatically gets installed by standard installation process (e.g. on Ubuntu, apt-get install ros-%DISTRO%-openni-camera or via rosdep).

Closing. I see a few people have asked follow-up question but that's not the usage this issue tracker is designed for. Please open a question on http://answers.ros.org/