ORK(1) ubuntu16.04 and 14.04+kinect v2+ros indigo

ORK is Object Recognition Kitchen, it is used for object recognition in 3D environment.

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In ubuntu16.04:

step 1 you just follow this:

https://github.com/OpenKinect/libfreenect2

then step 2 you do:

mkdir -p catkin_ws/src

cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws

catkin_make -DCMAKE_BUILD_TYPE="Release"

step 3 :test

In catkin_ws:

source devel/setup.bash

roslaunch kinect2_bridge kinect2_bridge.launch

Open another terminal:

rosrun kinect2_viewer kinect2_viewer

You should see the view of kinect2.

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Every thing is fine in ubuntu16.04.

BUT,when I do it in 14.04:

after installed libfreenect2 and iai_kinect2, I was ready to run kinect v2 in ros indigo:

roslaunch kinect2_bridge kinect2_bridge.launch

Then I run into the problem bellow:

[FATAL] [1561899441.184659615]: Failed to load nodelet '/kinect2_points_xyzrgb_qhdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[FATAL] [1561899441.184691815]: Failed to load nodelet '/kinect2_bridgeof typekinect2_bridge/kinect2_bridge_nodeletto managerkinect2'
[FATAL] [1561899441.184695033]: Failed to load nodelet '/kinect2_points_xyzrgb_hdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[FATAL] [1561899441.184714015]: Failed to load nodelet '/kinect2_points_xyzrgb_sdof typedepth_image_proc/point_cloud_xyzrgbto managerkinect2'
[kinect2-2] process has died [pid 38012, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2-2.log].
log file: /home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2-2*.log
[kinect2_bridge-3] process has died [pid 38016, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_bridge-3.log].
log file: /home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_bridge-3*.log
[kinect2_points_xyzrgb_sd-4] process has died [pid 38017, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/sd/camera_info rgb/image_rect_color:=kinect2/sd/image_color_rect depth_registered/image_rect:=kinect2/sd/image_depth_rect depth_registered/points:=kinect2/sd/points __name:=kinect2_points_xyzrgb_sd __log:=/home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_sd-4.log].
log file: /home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_sd-4*.log
[kinect2_points_xyzrgb_qhd-5] process has died [pid 38026, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/qhd/camera_info rgb/image_rect_color:=kinect2/qhd/image_color_rect depth_registered/image_rect:=kinect2/qhd/image_depth_rect depth_registered/points:=kinect2/qhd/points __name:=kinect2_points_xyzrgb_qhd __log:=/home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_qhd-5.log].
log file: /home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_qhd-5*.log
[kinect2_points_xyzrgb_hd-6] process has died [pid 38030, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/hd/camera_info rgb/image_rect_color:=kinect2/hd/image_color_rect depth_registered/image_rect:=kinect2/hd/image_depth_rect depth_registered/points:=kinect2/hd/points __name:=kinect2_points_xyzrgb_hd __log:=/home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_hd-6.log].
log file: /home/dell/.ros/log/98cddafc-9b36-11e9-bae0-54bf648c7a6d/kinect2_points_xyzrgb_hd-6*.log
[kinect2_bridge-3] restarting process

The problem solved when I run:

roslaunch kinect2_bridge kinect2_bridge.launch depth_method:=cpu reg_method:=cpu

roslaunch kinect2_viewer kinect2_viewer

then you see the point cloud view:

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