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