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openni_kinect: depth_image_proc | nite | openni | openni_camera | openni_launch | openni_tracker

Package Summary

Documented

ROS OpenNI is an open source project focused on the integration of the PrimeSense sensors with ROS.

openni_kinect: nite | openni | openni_camera_deprecated

Package Summary

Documented

ROS OpenNI is an open source project focused on the integration of the PrimeSense sensors with ROS.

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Overview

This stack contains OpenNI and Kinect related ros drivers like the openni_camera and openni_tracker.

Installation

This stack is not available in C Turtle.

Ubuntu installation

Make sure you have followed the setup instructions at diamondback/Installation/Ubuntu. Then:

  • sudo apt-get install ros-diamondback-openni-kinect

Ubuntu installation

Make sure you have followed the setup instructions at electric/Installation/Ubuntu. Then:

  • sudo apt-get install ros-electric-openni-kinect

Source based installation

kforge.ros.org no longer exists. Please use the Ubuntu installation instructions or the openni_camera and openni_launch stacks in a newer version of ROS.

Rosinstall needs to be installed on your system. If its not installed, follow the installation instructions here: rosinstall.

  1. Install the Openni drivers onto your system
    hg clone https://kforge.ros.org/openni/drivers
    cd drivers
    make 
    make install

    Debian users: Instead of doing the make and make install steps, you may want to build and install Debian packages. This ensures that the package manager (dpkg) can keep track of all installed files on the system.

    make debian
    sudo dpkg -i *.deb

    Mac OS X: Check out revision 272:10395243b2db and apply all the patches in Ticket #36. Assuming you have a copy of NITE 1.3.1.5 Mac OS X tarball, follow instructions in Ticket #36, Comment #5. Then make and make install

    # Get revision #272
    hg clone https://kforge.ros.org/openni/drivers
    cd drivers
    hg checkout 272
    
    # Apply patches from Ticket #36...
    patch openni/Makefile < openni-Makefile.patch
    patch ps_engine/Makefile < ps_engine-Makefile.patch
    # ...and so forth
    
    # First build nite directory if you have a local tarball according to Ticket #36, Comment #5
    cd nite
    make TARBALL_URL=file:///Users/username/NITE-Bin-MacOSX-v1.3.1.5.tar.bz2 TARBALL=NITE-Bin-MacOSX-v1.3.1.5.tar.bz2
    cd ..
    
    # Build and install drivers
    make
    make install
  2. Checkout the source onto your ROS_PACKAGE_PATH:
    hg clone https://kforge.ros.org/openni/openni_ros
  3. Compile everything:
     rosdep install openni_kinect
     rosmake openni_kinect

After installation you need to unplug and plug in all OpenNI compatible (Primesense SDK & Kinect) devices. Each user working with a device needs to be member of the 'video' group.

Ubuntu installation

The functionality for this stack has been split into two different stacks: openni_camera and openni_launch. This stack has been deprecated, reference those new stacks for updated documentation.

sudo apt-get install ros-fuerte-openni-camera ros-fuerte-openni-launch

Running the ROS drivers

You may continue here openni_camera or here openni_tracker.

Kinect compatibility

The ROS driver is compatible to the Primesense devices (PSDK5.0) and to the Kinect. See section ROS Driver for howto run these devices and which topics are published.

NITE

Skeleton tracking library is in the nite package.

Mailing List

For OpenNI related discussions, please join us at openni-dev@googlegroups.com (click here for subscription information). The mailing list is publicly archived on Nabble: http://openni-discussions.979934.n3.nabble.com

For ROS bindings related discussions, please join us at ros-kinect@code.ros.org (click here for subscription information). The mailing list is publicly archived on Nabble: http://kinect-with-ros.976505.n3.nabble.com

For discussions regarding 3D processing algorithms and PCL, please join us at pcl-users@code.ros.org (see http://pointclouds.org for more information).

For other general purpose ROS related questions that do not concern the OpenNI interface or PCL, please join us at ros-users@code.ros.org (see http://wiki/Support for more information).

Report a Bug

Use trac to report bugs or request features. [View active tickets]


2017-09-23 13:03