re-enable nite packages

.travis.yml

@@ -1,18 +1,13 @@
-language:
-  - cpp
-  - python
-python:
-  - "2.7"
-compiler:
-  - gcc
+sudo: required
+dist: trusty
+language: generic
 env:
-  - ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin    USE_DEB=true
-  - ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin   USE_DEB=true
-  - ROS_DISTRO=jade ROSWS=wstool BUILDER=catkin USE_DEB=true
+  - ROS_DISTRO=hydro  USE_DEB=true USE_JENKINS=true
+  - ROS_DISTRO=indigo USE_DEB=true USE_JENKINS=false
+  - ROS_DISTRO=jade   USE_DEB=true USE_JENKINS=false
 matrix:
   allow_failures:
-    - env: ROS_DISTRO=indigo  ROSWS=wstool BUILDER=catkin   USE_DEB=true
-    - env: ROS_DISTRO=jade ROSWS=wstool BUILDER=catkin USE_DEB=true
+    - env: ROS_DISTRO=jade   USE_DEB=true
 script: source .travis/travis.sh
 before_script:
   - export ROS_PARALLEL_JOBS="-j2 -l2"

README.md

@@ -0,0 +1,79 @@
+jsk_openni_kinect
+=================
+
+jsk openni tools
+
+
+## Setup (trusty/inidgo)
+
+
+### Create catkin workspace
+```
+$ mkdir-p catkin_ws/ws_jsk_openni_kinect/src
+$ cd catkin_ws/ws_jsk_openni_kinect
+$ wstool init src
+$ wstool set jsk_openni_kinect https://github.com/jsk-ros-pkg/jsk_openni_kinect --git
+$ wstool set openni_tracker https://github.com/ros-drivers/openni_tracker --git
+$ wstool update
+```
+
+### Install missing apt package required to run this package
+```
+$ rosdep update
+$ rosdep install -r -y
+```
+
+### Create primesense-nite-nonfree and install
+
+Install patched version of libopenni-sensor-primesense.sh for devices with `ID 1d27:0609 ASUS`
+```
+$ ./apt-get-intall-libopenni-sensor-primesense.sh
+```
+
+Get NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2 from somewhere and put it in this directory
+```
+$ ls -al NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2                                            ## make sure you have NITE-BIN
+-rw-rw-r-- 1 k-okada k-okada 108732440  5月 25 20:39 NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2 
+$ ./apt-get-intall-primesense-nite-nonfree.sh
+```
+
+To confirm you have successfully primesense-nite-nonfree,
+```
+$ ls -al /usr/include/nite          # check if include directory exists
+$ ls -al /usr/lib/libXnVNite*       # check if library installed
+```
+
+### Compile openni/nite packages
+```
+$ cd catkin_ws/ws_jsk_openni_kinect
+$ catkin b
+```
+
+### Run roslaunch and check if your device run correctly
+```
+$ roslaunch openni_launch openni.launch
+$ rosrun openni_tracker openni_tracker _camera_frame_id:=camera_depth_frame
+```
+
+
+## Troubleshooting
+### Run lsusb and check if your device correctly recognized by your OS
+```
+$ lsusb
+$ Bus ○○○ Device ○○○: ID 1d27:0601 ASUS
+```
+If there is no device like "ASUS", the connected device seems to be broken.
+
+### Run NiViewer and check if you can run the device without NiTE function
+```
+$ NiViewer
+```
+If you have some error with this command, I recommend you to try
+1. disconnect the device
+2. sudo service udev restart
+3. connect the device again
+
+### Run sample program in NITE-Bin-Dev-Linux-x64-v1.5.2.23/Samples/Bin
+```
+$ ./Sample-Players
+```

apt-get-intall-libopenni-sensor-primesense.diff

@@ -0,0 +1,51 @@
+diff -ru openni-sensor-primesense-5.1.0.41/debian/changelog openni-sensor-primesense-5.1.0.41-99/debian/changelog
+--- openni-sensor-primesense-5.1.0.41/debian/changelog	2016-05-26 18:59:42.736544744 +0900
++++ openni-sensor-primesense-5.1.0.41-99/debian/changelog	2016-05-26 18:58:00.300083609 +0900
+@@ -1,3 +1,9 @@
++openni-sensor-primesense (5.1.0.41-99) unstable; urgency=low
++
++  * Support 1d27:0609 device
++
++ -- Kei Okada <[email protected]>  Tue, 26 May 2016 18:55:55 +0900
++
+ openni-sensor-primesense (5.1.0.41-3) unstable; urgency=low
+
+   [ Jochen Sprickerhof ]
+diff -ru openni-sensor-primesense-5.1.0.41/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp openni-sensor-primesense-5.1.0.41-99/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+--- openni-sensor-primesense-5.1.0.41/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp	2012-01-04 20:43:06.000000000 +0900
++++ openni-sensor-primesense-5.1.0.41-99/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp	2016-05-26 18:58:00.308083645 +0900
+@@ -33,6 +33,7 @@
+ #define XN_SENSOR_5_0_PRODUCT_ID	0x0500
+ #define XN_SENSOR_6_0_PRODUCT_ID	0x0600
+ #define XN_SENSOR_6_0_1_PRODUCT_ID	0x0601
++#define XN_SENSOR_6_0_9_PRODUCT_ID	0x0609
+
+ //---------------------------------------------------------------------------
+ // Enums
+@@ -402,6 +403,10 @@
+ #else
+ 	XnStringsHash devicesSet;
+
++	// search for a v6.0.9 device
++	nRetVal = Enumerate(XN_SENSOR_6_0_9_PRODUCT_ID, devicesSet);
++	XN_IS_STATUS_OK(nRetVal);
++
+ 	// search for a v6.0.1 device
+ 	nRetVal = Enumerate(XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
+ 	XN_IS_STATUS_OK(nRetVal);
+--- openni-sensor-primesense-5.1.0.41/debian/libopenni-sensor-primesense0.udev	2013-11-30 05:35:50.000000000 +0900
++++ openni-sensor-primesense-5.1.0.41-99/debian/libopenni-sensor-primesense0.udev	2016-05-26 19:13:22.027791765 +0900
+@@ -5,3 +5,4 @@
+ SUBSYSTEM=="usb", ATTR{idProduct}=="0500", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video"
+ SUBSYSTEM=="usb", ATTR{idProduct}=="0600", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video"
+ SUBSYSTEM=="usb", ATTR{idProduct}=="0601", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video"
++SUBSYSTEM=="usb", ATTR{idProduct}=="0609", ATTR{idVendor}=="1d27", MODE:="0666", OWNER:="root", GROUP:="video"
+diff -ru openni-sensor-primesense-5.1.0.41/Platform/Linux/Install/55-primesense-usb.rules openni-sensor-primesense-5.1.0.41-99/Platform/Linux/Install/55-primesense-usb.rules
+--- openni-sensor-primesense-5.1.0.41/Platform/Linux/Install/55-primesense-usb.rules	2012-01-04 20:43:06.000000000 +0900
++++ openni-sensor-primesense-5.1.0.41-99/Platform/Linux/Install/55-primesense-usb.rules	2016-05-26 19:15:43.172355043 +0900
+@@ -5,4 +5,5 @@
+ SYSFS{idProduct}=="0500",SYSFS{idVendor}=="1d27",MODE="666",OWNER="xxx",GROUP="users"
+ SYSFS{idProduct}=="0600",SYSFS{idVendor}=="1d27",MODE="666",OWNER="xxx",GROUP="users"
+ SYSFS{idProduct}=="0601",SYSFS{idVendor}=="1d27",MODE="666",OWNER="xxx",GROUP="users"
++SYSFS{idProduct}=="0609",SYSFS{idVendor}=="1d27",MODE="666",OWNER="xxx",GROUP="users"
+

apt-get-intall-libopenni-sensor-primesense.sh

@@ -0,0 +1,20 @@
+#!/bin/bash -e
+set -x
+_THIS_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+
+# run everythin within /tmp
+cd /tmp
+rm -fr openni-sensor-primesense* # make sure we start from clean environment
+apt-src install libopenni-sensor-primesense-dev
+patch -p0 < ${_THIS_DIR}/apt-get-intall-libopenni-sensor-primesense.diff
+apt-src build libopenni-sensor-primesense-dev
+
+# install 
+ls -al *.deb
+sudo dpkg -i libopenni-sensor-primesense*
+
+echo "OK"
+
+
+
+

apt-get-intall-primesense-nite-nonfree.sh

@@ -0,0 +1,39 @@
+#!/bin/bash -e
+
+_THIS_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+
+# run everythin within /tmp
+cd /tmp
+rm -fr primesense-nite-nonfree* # make sure we start from clean environment
+if [ ! -e primesense-nite-nonfree-0.1 ]; then
+    apt-src install primesense-nite-nonfree
+fi
+NITE_LIB=NITE-Bin-Linux-x64-v1.5.2.23.tar.bz2
+if [ ! -e ${_THIS_DIR}/${NITE_LIB} ]; then
+    echo "Please put $NITE_LIB"
+    exit 1
+fi
+if [ ! -e $NITE_LIB.zip ]; then
+    zip $NITE_LIB.zip ${_THIS_DIR}/$NITE_LIB
+fi
+set -x
+# fix to use local .zip
+sed -i "[email protected]@$NITE_LIB.zip@" primesense-nite-nonfree-0.1/update-primesense-nite-nonfree
+sed -i "s@^\s*wget@echo wget@"                        primesense-nite-nonfree-0.1/update-primesense-nite-nonfree
+sed -i "s@\$checksum@$(sha256sum /tmp/$NITE_LIB.zip | cut -f1 -d\ )@" primesense-nite-nonfree-0.1/update-primesense-nite-nonfree
+sed -i "s@/usr/lib/primesense-nite-nonfree/primesense-nite-nonfree-make-deb@/tmp/primesense-nite-nonfree-0.1/primesense-nite-nonfree-make-deb@" primesense-nite-nonfree-0.1/update-primesense-nite-nonfree
+
+sed -i "s@/usr/share/primesense-nite-nonfree/nite_debian_dir@/tmp/primesense-nite-nonfree-0.1/nite_debian_dir@" primesense-nite-nonfree-0.1/primesense-nite-nonfree-make-deb
+
+# create deb
+apt-src build primesense-nite-nonfree
+
+# install 
+sudo dpkg -i primesense-nite-nonfree_0.1_amd64.deb
+sudo dpkg -i /var/cache/primesense-nite-nonfree/openni-module-primesense-nite-nonfree_1.5.2.21-1_amd64.deb
+
+echo "OK"
+
+
+
+

openni_pointer/CMakeLists.txt

@@ -1,23 +1,38 @@
-if(NOT ("$ENV{ROS_Distributions}" STREQUAL "electric" OR "$ENV{ROS_DISTRO}" STREQUAL "fuerte"))
-  include(catkin.cmake)
-  return()
-endif()
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-rosbuild_init()
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+cmake_minimum_required(VERSION 2.8.3)
+project(openni_pointer)
+find_package(catkin REQUIRED COMPONENTS roscpp roslib geometry_msgs tf)
 
-set(PC_NITE_DEV_INCLUDE_DIRS "/usr/include/nite")
 find_package(PkgConfig)
 pkg_check_modules(PC_LIBOPENNI REQUIRED libopenni)
-include_directories(
-  ${PC_LIBOPENNI_INCLUDE_DIRS}
-  ${PC_NITE_DEV_INCLUDE_DIRS})
-if($ENV{ROS_DISTRO} STREQUAL "groovy")
-  add_definitions(-DUSE_PCL_AS_PCL_MSGS)
+set(PC_NITE_DEV_INCLUDE_DIRS "/usr/include/nite")
+set(PC_NITE_DEV_LIBRARIES XnVNite_1_3_1;OpenNI)
+
+catkin_package(
+    DEPENDS openni nite
+    CATKIN-DEPENDS roscpp roslib geometry_msgs tf
+    #INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+)
+
+if(NOT EXISTS ${PC_NITE_DEV_INCLUDE_DIRS})
+  message(WARNING "-- Nite is not found, so could not compile ${PROJECT_NAME}")
+else()
+
+  include_directories(
+    ${PC_LIBOPENNI_INCLUDE_DIRS}
+    ${PC_NITE_DEV_INCLUDE_DIRS}
+    ${catkin_INCLUDE_DIRS})
+  add_definitions(${PC_LIBOPENNI_CFLAGS_OTHER})
+  add_executable(openni_pointer src/openni_pointer.cpp)
+  target_link_libraries(openni_pointer ${catkin_LIBRARIES} ${PC_NITE_DEV_LIBRARIES})
+
+  install(TARGETS ${PROJECT_NAME} openni_pointer
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    )
+
 endif()
-rosbuild_add_executable(openni_pointer src/openni_pointer.cpp)
 
-# https://code.ros.org/trac/ros-pkg/ticket/5287
-set(PC_NITE_DEV_LIBRARIES XnVNite_1_3_1;OpenNI)
-target_link_libraries(openni_pointer ${PC_NITE_DEV_LIBRARIES})
+install(FILES openni_pointer.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)