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ROS wrapper for openni 2.0
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ROS openni 2.0 wrapper for Terabee depth cameras

This package is a modified version of the openni2_camera package, it has been updated to work with QQQVGA (80x60 pixels) cameras.

Install the pre-required ROS packages

  • For Ubuntu 16.04 with ROS Kinetic
$ sudo apt-get install ros-kinetic-rgbd-launch
  • For Ubuntu 14.04 with ROS Indigo
$ sudo apt-get install ros-indigo-rgbd-launch

Install openni2 packages for Ubuntu

Please install the openni2 package using the following command:

$ sudo apt-get install libopenni2-0 libopenni2-dev

Download and install the Terabee 3Dcam SDK

You can download the Terabee SDK from the Downloads section of Terabee 3Dcam here.

Then install it using the following commands:

$ tar -xzf TERABEE-Linux-x64-OpenNI2.2.tar.gz
$ cd TERABEE-Linux-x64-OpenNI2.2
$ sudo ./

Install OpenCV 2

In order to use the SDK, it is mandatory to install the right OpenCV version. In the repository are included scripts that will help you install OpenCV on your system. Depending on your Ubuntu version, you will have to run the relevant script as follows:

  • If you are using Ubuntu 16.04, you must install OpenCV 3.1.0:
  • If you are using Ubuntu 14.04, you must install OpenCV 2.4.11:

Build and use the modified openni2_camera package

Downloading and building the package

To clone and build the package in your workspace follow these steps:

cd ~/ros_ws/src
git clone
cd ~/ros_ws
source devel/setup.bash

Launching the OpenNI2 driver

After your workspace is built and sourced, you can launch the openni2 package to start the camera driver. Please make sure that the Terabee 3Dcam is connected then run the following command:

roslaunch openni2_launch Terabee_3Dcam.launch

Visualize depth and IR images

Once the driver is running, you will be able to see the camera output using ROS visualization tools.

Using rqt with the "Image View" plugin

Launch rqt using the following command:

$ rqt

Then load the "Image View" plugin located in Plugins>Visualization and select one of the following topics:

  • /camera/depth/image to visualize depth
  • /camera/ir/image to visualize IR frame

Using the image_view node directly

  • To view the Depth image, run the following command:
$ rosrun image_view image_view image:=/camera/depth/image
  • To view the IR image, run the following command:
$ rosrun image_view image_view image:=/camera/ir/image
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