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:
- ROS2:
- The ros2 branch supports Jazzy and later
- The iron branch supports Humble to Iron
- openni2_launch has NOT been ported since proper lazy subscribers are still not possible in ROS2
Developer document
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 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.