'process has died' while executing openni.launch with Kinect1

[blueeaglex]

Hardware:1.kinect1.0 for xbox360
2.PC with usb2.0
Software: Ubuntu16.04 LTS, ros-kinetic-desktop-full
I tried to excute openni.launch and get these errors:

`auto-starting new master
process[master]: started with pid [9207]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c588874-654d-11e7-ab6f-00e0b412588a
process[rosout-1]: started with pid [9220]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [9237]
process[camera/driver-3]: started with pid [9238]
process[camera/rgb_debayer-4]: started with pid [9239]
process[camera/rgb_rectify_mono-5]: started with pid [9245]
process[camera/rgb_rectify_color-6]: started with pid [9258]
process[camera/ir_rectify_ir-7]: started with pid [9267]
process[camera/depth_rectify_depth-8]: started with pid [9282]
[ INFO] [1499676940.858628822]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric_rect-9]: started with pid [9297]
process[camera/depth_metric-10]: started with pid [9322]
process[camera/depth_points-11]: started with pid [9337]
process[camera/register_depth_rgb-12]: started with pid [9343]
process[camera/points_xyzrgb_sw_registered-13]: started with pid [9349]
process[camera/depth_registered_sw_metric_rect-14]: started with pid [9366]
process[camera/depth_registered_rectify_depth-15]: started with pid [9378]
process[camera/points_xyzrgb_hw_registered-16]: started with pid [9387]
process[camera/depth_registered_hw_metric_rect-17]: started with pid [9391]
process[camera/depth_registered_metric-18]: started with pid [9412]
process[camera/disparity_depth-19]: started with pid [9420]
process[camera/disparity_registered_sw-20]: started with pid [9424]
process[camera/disparity_registered_hw-21]: started with pid [9432]
process[camera_base_link-22]: started with pid [9443]
process[camera_base_link1-23]: started with pid [9445]
process[camera_base_link2-24]: started with pid [9463]
process[camera_base_link3-25]: started with pid [9471]
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1499676943.699963616]: Number devices connected: 2
[ INFO] [1499676943.800937024]: 1. device on bus 001:17 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0'
[ INFO] [1499676943.801022556]: 2. device on bus 001:17 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00363920469048A'
[ INFO] [1499676943.802363361]: Searching for device with index = 1
[camera/camera_nodelet_manager-2] process has died [pid 9237, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-camera_nodelet_manager-2.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-camera_nodelet_manager-2*.log
[FATAL] [1499676955.288648044]: Failed to load nodelet '/camera/points_xyzrgb_hw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289234539]: Failed to load nodelet '/camera/depth_registered_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289355207]: Failed to load nodelet '/camera/depth_registered_hw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289450084]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289567134]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289666340]: Failed to load nodelet '/camera/disparity_depth` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.289845471]: Failed to load nodelet '/camera/disparity_registered_sw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290129104]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290254835]: Failed to load nodelet '/camera/ir_rectify_ir` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.290365995]: Failed to load nodelet '/camera/driver` of type `openni_camera/driver` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291081899]: Failed to load nodelet '/camera/depth_registered_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291270966]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291462331]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291763068]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291935707]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291971826]: Failed to load nodelet '/camera/disparity_registered_hw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1499676955.291957955]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[camera/driver-3] process has died [pid 9238, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load openni_camera/driver camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-driver-3.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-driver-3*.log
[camera/depth_metric-10] process has died [pid 9322, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric-10.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric-10*.log
[camera/ir_rectify_ir-7] process has died [pid 9267, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=ir_rectify_ir __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-ir_rectify_ir-7.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-ir_rectify_ir-7*.log
[camera/depth_points-11] process has died [pid 9337, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_points-11.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_points-11*.log
[camera/depth_registered_sw_metric_rect-14] process has died [pid 9366, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_sw_metric_rect-14.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_sw_metric_rect-14*.log
[camera/depth_registered_rectify_depth-15] process has died [pid 9378, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_rectify_depth-15.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_rectify_depth-15*.log
[camera/points_xyzrgb_hw_registered-16] process has died [pid 9387, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_hw_registered-16.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_hw_registered-16*.log
[camera/rgb_rectify_color-6] process has died [pid 9258, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-rgb_rectify_color-6.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-rgb_rectify_color-6*.log
[camera/depth_rectify_depth-8] process has died [pid 9282, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_rectify_depth-8.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_rectify_depth-8*.log
[camera/depth_metric_rect-9] process has died [pid 9297, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric_rect-9.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_metric_rect-9*.log
[camera/register_depth_rgb-12] process has died [pid 9343, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-register_depth_rgb-12.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-register_depth_rgb-12*.log
[camera/points_xyzrgb_sw_registered-13] process has died [pid 9349, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_sw_registered-13.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-points_xyzrgb_sw_registered-13*.log
[camera/depth_registered_hw_metric_rect-17] process has died [pid 9391, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/hw_registered/image_rect_raw image:=depth_registered/hw_registered/image_rect __name:=depth_registered_hw_metric_rect __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_hw_metric_rect-17.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_hw_metric_rect-17*.log
[camera/depth_registered_metric-18] process has died [pid 9412, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/image_raw image:=depth_registered/image __name:=depth_registered_metric __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_metric-18.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-depth_registered_metric-18*.log
[camera/disparity_depth-19] process has died [pid 9420, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_depth-19.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_depth-19*.log
[camera/disparity_registered_sw-20] process has died [pid 9424, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_sw-20.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_sw-20*.log
[camera/disparity_registered_hw-21] process has died [pid 9432, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/hw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_hw __log:=/home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_hw-21.log].
log file: /home/pdw/.ros/log/8c588874-654d-11e7-ab6f-00e0b412588a/camera-disparity_registered_hw-21*.log`

I tried the ideas of these links:
http://answers.ros.org/question/53089/ubuntu-1210-groovy-openni-usb30-working/
http://answers.ros.org/question/135266/problem-running-openni_launchlaunch-failed-to-load-nodelet-cameradriver-of-type-openni_cameradriver-could-not-find-library-corresponding-to-plugin/
http://answers.ros.org/question/54863/camera_nodelet_manager-1-process-has-died-error-with-kinect/

But it doesn't work.
I can run the standalone NIViewer with kinect. So I think the kinect driver should be OK on ubuntu 16.04 LTS.
Has anyone found the way to walk through this?
I think this issue may have sth. to do with this one:
#18

[130s]

Can you try #52 as mentioned in #18 (comment) and see if that fixes your issue?

[blueeaglex]

@130s I tried. But I got compile error:
In member function ‘void openni_camera::DriverNodelet::onInitImpl()’: /home/pdw/dev/openni_catkin_ws/src/openni_camera/src/nodelets/driver.cpp:149:3: error: ‘LoggerPtr’ is not a member of ‘log4cxx’

[blueeaglex]

@130s
Does the branch 'rollback_usb' work with kinetic?

[130s]

Does the branch 'rollback_usb' work with kinetic?

Only based on my assumption below with #52, yes it can/might work on ROS Kinetic:

• [fix] #18 "OpenNI Driver fails to set USB interface after update to 1.8.9" #52 is targeted to indigo-devel branch, which is the latest for this repo.
• CI result where Kinetic is tested passed without an issue.
  • This doesn't necessarily mean that every possible usecase is tested though.
  • Note that tests on CI run WITHOUT the actual hardware.

[blueeaglex]

@130s
I succeed compiling your commits below with #52.
And I download the openni_launch package.
This time I got a bit different things after I excuted openni.launch:
[ INFO] [1499826307.214740439]: Number devices connected: 2 [ INFO] [1499826307.214866068]: 1. device on bus 001:11 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '' [ INFO] [1499826307.214929254]: 2. device on bus 001:11 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00363920469048A' [ INFO] [1499826307.216282417]: Searching for device with index = 1 nodelet: /usr/include/boost/smart_ptr/shared_ptr.hpp:641: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = xn::NodeInfo; typename boost::detail::sp_dereference<T>::type = xn::NodeInfo&]: Assertion px != 0' failed.
[camera/camera_nodelet_manager-1] process has died [pid 16461, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/pdw/.ros/log/3149da4e-66a8-11e7-8e89-00e0b412588a/camera-camera_nodelet_manager-1.log].
`

[blueeaglex]

@130s
I think I've got something.
It looks like the detectet serial id of SensorKinect is invalid.
It shouldn't be 0 or empty.

[blueeaglex]

@130s When I compile the code，I see lots of warning like this

Using deprecated functions. Should I install an old version of openni?

[blueeaglex]

@130s I've already got the point.
The function OpenNIDriver::updateDeviceList() returns two device item when I conect my kinect sensor to my pc. But as you can see,the first one's serial ID is invalid.

So I jump over the first one:

And the program just run normal now!
But it's not over. This is just a temp solution. I need time to locate the actual code where the bug comes from. Or maybe It is just because of the driver?
Do you have any suggestions?

[blueeaglex]

This issue finally comes to an end. @fmnoori
All problems come from that I ever installed http://github.com/avin2/SensorKinect.git
There was no need for this driver.
After I uninstalled the driver,there was no output of 'device on bus XXX is a SensorKinect' with a invalid serial id any more but only a normal 'Xbox NUI Camera' with an valid serial id.
Topic solved for now. :)
But it is still hard to know what's going on with openni_camera. The standalone OpenNI was NEVER disturbed by the incorrect driver I installed but openni_camrea was. @130s
Maybe I could figure that out anthor day after I finish my job.

[TanayaBhave]

@blueeaglex How to uninstall the driver ? Could you please tell me the command

[leocorp96]

@TanayaBhave
In the {/home/user/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1} directory, run;
sudo ./install.sh -u

[leocorp96]

@blueeaglex
The camera_nodelet_manager dies when I subscribe to any topic using RViz. Any ideas how to solve this issue?

[Wleisure95]

@blueeaglex
当我使用RViz订阅任何主题时，camera_nodelet_manager死亡。任何想法如何解决这个问题？

我也是，你解决了吗？求教