THE ni STACK IS DEPRECATED

Please transition to using openni_kinect.

Below will be preserved for a while while people switch.

Contents

THE ni STACK IS DEPRECATED

Known Issues

This package was developed after cturtle was released it is recommended to install on diamondback. It is possible to install against cturtle but it is recommended for experienced ROS users only.

Setup and installation

BOXTURTLE IS NOT SUPPORTED

The setup depends on which ROS distribution you have installed. All cases assume you have rosinstall installed.

sudo apt-get install ros-diamondback-perception-pcl-addons

sudo apt-get install ros-unstable-perception-pcl-addons

Setup with cturtle installed has some problems and requires at least overlaying the perception_pcl and perception_pcl_addons stacks. The rosinstall files for making an overlay are on the respective wiki pages. Ensure that roscd pcl_ros takes you to the perception_pcl stack. If not, update your ROS_PACKAGE_PATH accordingly.

Run rosinstall:

rosinstall ~/ni /opt/ros/diamondback 'http://www.ros.org/wiki/ni?action=AttachFile&do=get&target=ni.rosinstall'

rosinstall ~/ni /opt/ros/unstable 'http://www.ros.org/wiki/ni?action=AttachFile&do=get&target=ni.rosinstall'

rosinstall ~/ni PATH_TO_EXISTING_CTURTLE_TREE 'http://www.ros.org/wiki/ni?action=AttachFile&do=get&target=ni.rosinstall'

Setup your environment:
```
. ~/ni/setup.bash
```
Add the above line to your .bashrc or source the setup file each time you open a terminal. You will have to change setup.sh in two places (ROS_ROOT and ROS_PACKAGE_PATH) if you are running cturtle.
Compile everything:
```
rosmake ni --rosdep-install
```

USB Setup

Configure your udev rules.

sudo cp `rospack find ps_engine`/install/55-primesense-usb.rules /etc/udev/rules.d/

Add the user to the group user

sudo adduser USERNAME users

Restart udev

sudo service udev restart

Plug in device after restarting udev. Unplug and replug if it was already plugged in.
See "Kinect compatibility" below if you are using ni with the Kinect.

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.

Other functions (accelerometer/tilt/LED)

You can use the kinect_aux driver to use these functions in parallel with the ni driver.

ROS Driver

Please see openni_camera. Running the driver will enable you to see point clouds in rviz.

NITE Demo

Skeleton tracking demo is in the nite package documentation.

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://pcl.ros.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://www.ros.org/wiki/Support for more information).

Report a Bug

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

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