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CNURobotics/openni2_camera

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openni2_camera

The fork includes the OpenNI-Linux-x64-2.3 files that work with the original Orbbec Astra

It would be better if I provided a link to where I downloaded the OpenNI-Linux-x64-2.3.zip for that particular SDK version that I have included, but in the various testing and frantic debugging trying to bring the Astra to life under ROS 2 that information has been lost :-(

This works, where the Ubuntu 20.04 OpenNI version was not recognizing the camera.

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ROS2 wrapper for openni 2.0

Note: openni2_camera supports xtion devices, but not Kinects.

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.launch.py

Migration from ROS1

  • The GetService message has moved to a new openni2_camera_msgs package.
  • 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.

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