Kinect / Primesense (Xtion) ROS Ubuntu through Virtual Machine (VMware) -


since took me quite time figure out how xtion (primesense) work on vmware thought share here you. (with kinect have problem let ros see device though vmware has connected it).

roslaunch openni2_launch openni2.launch

running above command gave me error:

warning: usb events thread - failed set priority. might cause loss of data...

i either got single frame or no frame when running "rviz" , add --> image --> image topic --> /camera/rgb/image_raw

so how video frames in ubuntu primesense device while using virtual machine (vmware)?

my specs

  • windows 7 running vmware 10.0.4 build-2249910
  • ubuntu 12.04.5 precise in vmware
  • ros hydro

the following question pointed me in right direction: http://answers.ros.org/question/77651/asus-xtion-on-usb-30-ros-hydro-ubuntu-1210/?answer=143206#post-id-143206

in answer of blizzardroi (not selected answer) he/she mentions usbinterface should 0. reasoned since main machine windows, should set usbinterface 1, indeed solved it.

solution

go /etc/openni2/ (from system folder, not home) , open ps1080.ini administrator rights (e.g. sudo gedit ps1080.ini). search usbinterface, remove ; , change value 1. should below:

; usb interface used. 0 - fw default, 1 - iso endpoints (default on windows), 2 - bulk endpoints (default on linux/mac/android machines) usbinterface=1

additional

from previous experience may related windows system may need kinect drivers well. if above not works, try install following:

p.s. don't forget drivers ubuntu (replace hydro ros version)

sudo apt-get install ros-hydro-openni*

important

it doesn't solve error below, rviz returns video, means can read data primesense device publishes!

warning: usb events thread - failed set priority. might cause loss of data...

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