[Info] [RgbPacketStreamParser] packetsize or sequence doesn't match!

[KenshinXJ]

`[Info] [OpenCLDepthPacketProcessorImpl] devices:
[Info] [OpenCLDepthPacketProcessorImpl] 0: GeForce 920M (GPU)[NVIDIA Corporation]
[Info] [OpenCLDepthPacketProcessorImpl] selected device: GeForce 920M (GPU)[NVIDIA Corporation]
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @3:3 with serial 007410244347
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1557456445.251880357]: [Kinect2Bridge::initDevice] Kinect2 devices found:
[ INFO] [1557456445.251932203]: [Kinect2Bridge::initDevice] 0: 007410244347 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 60833792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1557456445.356892892]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1557456445.685670047]: [Kinect2Bridge::initDevice] device serial: 007410244347
[ INFO] [1557456445.685791655]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Info] [OpenCLDepthPacketProcessorImpl] OpenCL program built successfully
[ WARN] [1557456445.922973390]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
[ WARN] [1557456445.923011657]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
[ WARN] [1557456445.923183472]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
[ WARN] [1557456445.923213882]: [Kinect2Bridge::initCalibration] using defaults for depth shift.
[ INFO] [1557456445.956729182]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1557456445.956855018]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1557456445.963161957]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1557456445.963490245]: [DepthRegistrationOpenCL::init] 0: GeForce 920M
[ INFO] [1557456445.963657569]: [DepthRegistrationOpenCL::init] selected device: GeForce 920M
[ INFO] [1557456446.057760595]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1557456446.057970953]: [DepthRegistrationOpenCL::init] 0: GeForce 920M
[ INFO] [1557456446.058140392]: [DepthRegistrationOpenCL::init] selected device: GeForce 920M
[ INFO] [1557456446.190105989]: [Kinect2Bridge::main] waiting for clients to connect
[kinect2_points_xyzrgb_hd-5] process has finished cleanly
log file: /home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/kinect2_points_xyzrgb_hd-5.log
[kinect2_points_xyzrgb_hd-5] restarting process
process[kinect2_points_xyzrgb_hd-5]: started with pid [10087]
[ INFO] [1557456488.831756465]: [Kinect2Bridge::callbackStatus] client connected. starting device...
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[Info] [DepthPacketStreamParser] -10 packets were lost
[Info] [RgbPacketStreamParser] packetsize or sequence doesn't match!
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1557456491.231835396]: [Kinect2Bridge::callbackStatus] no clients connected. stopping device...
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] stopped

I successfully run Protonect ,kinect2_viewer and rviz, but when I run my codes , I have error above, I can't receive any data in my project. I have referenced the issues #165 and reinstalled my Nvidia, but it can't fix my error.

This is the error with my roslaunch:
process[rotation_dir-1]: started with pid [10137] process[pcl_processing-2]: started with pid [10138] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! terminate called after throwing an instance of 'pcl::IOException' what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data! [pcl_processing-2] process has died [pid 10138, exit code -6, cmd /home/kenshin/catkin_ws/devel/lib/scanner/pcl_processing __name:=pcl_processing __log:=/home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/pcl_processing-2.log]. log file: /home/kenshin/.ros/log/93dda2ce-72c9-11e9-acd8-e4f89cbc248d/pcl_processing-2*.log
Any ideas to fix this?

my environment is

ubuntu 16.04
ros kinetic