openni2_camera

Introduction

ROS wrapper for openni 2.0

Note: openni2_camera supports xtion devices, but not kinects. For using a kinect with ROS, try the freenect stack: http://www.ros.org/wiki/freenect_stack

Contribution

Branching:

• ROS1:
  • Latest: ros1
  • For ROS Jade, Indigo or earlier: indigo-devel
• ROS2:
  • The ros2 branch supports Humble and later
  • openni2_launch has NOT been ported since proper lazy subscribers are still not possible in ROS2

Developer document

• docs.ros.org/openni2_launch
• Source of the doc: openni2_launch/doc

Running ROS2 Driver

An example launch exists that loads just the camera component:

ros2 launch openni2_camera camera_only.launch.py

If you want to get a PointCloud2, use:

ros2 launch openni2_camera camera_with_cloud_no_rgb.launch.py

Remote PointCloud2 launch file for depth_image_proc
launch file is available at my GitHub Gist.

sudo mv the python launch file to /ros/<ros distro>/share/depth_image_proc/launch and run it with :

ros2 launch depth_image_proc point_cloud_xyz_xtion.launch.py

Migration from ROS1

• The rgb/image topic has been renamed to rgb/image_raw for consistency.
• The nodelet has been refactored into an rclcpp component called "openni2_wrapper::OpenNI2Driver". See the launch folder for an example of how to start this.
• Since most components in image_proc/depth_image_proc lack lazy pub/sub, the advanced processing graphs in rgbd_launch and openni2_launch are not currently feasible. It is recommended to create a launch file with the specific pipeline you want. See the launch folder for an example.

Known Issues

• There are currently no subscriber connect/disconnect callbacks in ROS2. This package implements a lazy publisher by running a 1Hz update loop and seeing if there are new subscribers.
• Using "use_device_time" is currently broken.