ubuntu下使用ASUS Xtion PRO

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实验室近期进了一个ASUS Xtion PRO，于是我便尝试在ubuntu12.04下使用它采集数据，然而当我运行ros下的openni程序时，我获得下面的提示：

hao@haopc:~$ roslaunch openni_launch openni.launch

......

[ INFO] [1409020429.637758787]: Number devices connected: 1
[ INFO] [1409020429.738656579]: 1. device on bus 002:05 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1307090112'
[ INFO] [1409020429.739982913]: Searching for device with index = 1
[ INFO] [1409020429.840873018]: No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/buildd/ros-groovy-openni-camera-1.8.9-0precise-20140720-0303/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!

......

解决办法非常简单：

编辑/etc/openni/GlobalDefaults.ini文件

sudo gedit /etc/openni/GlobalDefaults.ini

找到内容为“; UsbInterface=2”这一行，将该行更改为UsbInterface=0，注意去掉分号注释。

重新运行命令：

roslaunch openni_launch openni.launch

此时便可以在rviz中查看到点云数据

rosrun rviz rviz

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