william@william-System-Product-Name:~$ roslaunch openni2_launch openni2.launch ... logging to /home/william/.ros/log/b7e20fb0-8707-11e8-aaf9-30b49ea6df95/roslaunch-william-System-Product-Name-24982.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://william-System-Product-Name:38265/ SUMMARY ======== PARAMETERS * /camera/camera_nodelet_manager/num_worker_threads: 4 * /camera/depth_rectify_depth/interpolation: 0 * /camera/driver/auto_exposure: True * /camera/driver/auto_white_balance: True * /camera/driver/color_depth_synchronization: False * /camera/driver/color_mode: 5 * /camera/driver/depth_camera_info_url: * /camera/driver/depth_frame_id: camera_depth_opti... * /camera/driver/depth_mode: 5 * /camera/driver/depth_registration: False * /camera/driver/device_id: #1 * /camera/driver/ir_mode: 5 * /camera/driver/rgb_camera_info_url: * /camera/driver/rgb_frame_id: camera_rgb_optica... * /rosdistro: kinetic * /rosversion: 1.12.13 NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher) auto-starting new master process[master]: started with pid [24992] ROS_MASTER_URI=http://localhost:11311 setting /run_id to b7e20fb0-8707-11e8-aaf9-30b49ea6df95 process[rosout-1]: started with pid [25005] started core service [/rosout] process[camera/camera_nodelet_manager-2]: started with pid [25022] process[camera/driver-3]: started with pid [25023] process[camera/rgb_rectify_color-4]: started with pid [25024] process[camera/depth_rectify_depth-5]: started with pid [25025] process[camera/depth_metric_rect-6]: started with pid [25026] process[camera/depth_metric-7]: started with pid [25027] process[camera/depth_points-8]: started with pid [25028] process[camera/register_depth_rgb-9]: started with pid [25029] process[camera/points_xyzrgb_sw_registered-10]: started with pid [25060] process[camera/depth_registered_sw_metric_rect-11]: started with pid [25070] process[camera_base_link-12]: started with pid [25109] process[camera_base_link1-13]: started with pid [25150] process[camera_base_link2-14]: started with pid [25160] process[camera_base_link3-15]: started with pid [25170] [ INFO] [1531532786.277276656]: Initializing nodelet with 4 worker threads. [ INFO] [1531532786.852095969]: Device "1d27/0601@1/11" found. [ INFO] [1531532786.878107060]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.3.0/src/openni2_device.cpp @ 75 : Device open failed Could not open "1d27/0601@1/11": Failed to open the USB device! [ INFO] [1531532789.879192074]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.3.0/src/openni2_device.cpp @ 75 : Device open failed Could not open "1d27/0601@1/11": Failed to open the USB device! Warning: USB events thread - failed to set priority. This might cause loss of data... [ WARN] [1531532804.168145059]: Reconnect has been enabled, only one camera should be plugged into each bus
貌似没有更好的解决方法，但是使用ROS命令行查看topic图像
/camera/rgb/image_raw
和
/camera/depth_registered/image_raw
完全没问题，因此可以忽略warnning吧！
直接跑rgbdslam！
错误：
roslaunch openni2_launch openni2.launch
报错：
[ INFO] [1547431093.208297665]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.