Asus Xtion Pro Live (OpenNI2) under ROS Framework

Installation

First of all be sure to have installed “ROS Indigo” framework on your NVidia Jetson TK1. If not follow the guide.

The installation procedure is really simple since OpenNI2 is fully supported by ROS and the precompiled packages are available in the official repository for ARM processors:

1. Install dependencies:

   sudo apt-get install ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch

2. Be sure to have disabled the USB autosuspend following this guide
3. Be sure to have enabled the four cores of the Tegra TK1 SOC and to have set the governor to “performance” following this guide

RGB-D Test

1. Install package rqt and useful plugins:

   sudo apt-get install ros-indigo-rqt ros-indigo-rqt-common-plugins ros-indigo-rqt-robot-plugins

2. Open a terminal (Ctrl+Alt+t):

   roscore

3. Open a terminal (Ctrl+Alt+t):

   roslaunch openni2_launch openni2.launch

4. Open a terminal (Ctrl+Alt+t):

   rqt

5. In the “rqt” window select “Plugins” -> “Visualization” -> “Image View“
6. From the combo box select the image that you want to visualize, remembering that you cannot activate IR and Depth streams at the same time.

In the following image the RGB 3D Pointcloud is visualized on a remote PC using Rviz.

 

The full guide to send data over network using ROS framework will be available soon.