README.md

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 Jazzy and later
  • The iron branch supports Humble to Iron
  • openni2_launch has NOT been ported yet

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.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.
• rgbd_launch and openni2_launch have not yet been ported (although it is now possible since lazy pub/sub is implemented). It is recommended to create a launch file with the specific pipeline you want. See the launch folder for an example.

Known Issues

• Using "use_device_time" is currently broken.