The problem I am facing is that when I try to initialize NiTE it fails with error code 1 (STATUS_ERROR)
nite::NiTE::initialize();
I have a project to design a robot mimicry project. Here are some details:
- I am using a virtual machine to develop on Linux.
- I have tested a connection (Samples) with Assus Xtion Pro Live and it is working.
- I have already build my trackers under Windows, and they are working, all I need to do is attach them to ROS as nodes.
- I have connected OpenNI2 and NiTE2 in the CMakeList.txt as you can see bellow.
I started from doing my own ROS hydro package - Which currently has a simple structure:
-catkin pkg
.... - src
....... - beginner_pkg
........... - src
.............. - talker.cpp
.............. - listerner.cpp
.... - devel
.... - build
My CMakeList.txt for beginner_pkg is as follows:
cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)
## Find catkin and any catkin pack
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
genmsg
tf
)
#set(NITE2_INCLUDE "/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/")
#set(NITE2_REDIST64 "/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/")
##Find pack for OpenNI2
find_path(OpenNI2_INCLUDEDIR
NAMES OpenNI.h
HINTS /usr/include/openni2)
find_library(OpenNI2_LIBRARIES
NAMES OpenNI2 DummyDevice OniFile PS1090
HINTS /usr/lib/ /usr/lib/OpenNI2/Drivers
PATH_SUFFIXES lib)
message (STATUS ${OpenNI2_LIBRARIES})
##Find pack for NiTE2
message(STATUS $ENV{NITE2_INCLUDE})
message(STATUS $ENV{NITE2_REDIST64})
#/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/
find_path (NITE2_INCLUDEDIR
NAMES NiTE.h
HINTS "/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/")
##/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/
find_library (NITE2_LIBRARY
NAMES NiTE2
HINTS "/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/"
PATH_SUFFIXES lib)
## Declare a catkin package
catkin_package()
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(${OpenNI2_INCLUDEDIR})
include_directories(${NITE2_INCLUDEDIR})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
target_link_libraries(talker ${OpenNI2_LIBRARIES} ${NITE2_LIBRARY})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
I have left the paths the same as they are in the CMakeList.txt
The Cpp code for the talker is as follows:
int main(int argc, char **argv)
{
bool active = true;
HandTracker hTracker;
Status status = STATUS_OK;
status = NiTE::initialize();
// iniciate the ROS communicator
ros::init(argc, argv, "talker");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
// Define the msg
std_msgs::String msg;
std::stringstream ss;
// ros::ok()
if(!HandleStatus(status)) {
printf("ERROR: #%d, %s \r\n", status,openni::OpenNI::getExtendedError());
ss << "NITE NOT INITIALIZED";
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
return 1;
}else ss<<"NITE initialized";
...
I have tried this solution:
http://ariandy1.wordpress.com/2013/07/10/ros-openni2-nite2/
and ran my beginner_tutorials from the folder where the Machine Learning data is, but it made no difference.
Any suggestions where I may be making a mistake ?
Thank you very much in advance.