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我的电脑是Ubuntu 14.04.5，ROS 为indigo版本。我们最初的愿望是实现基于turtlebot的路径规划；但是在使用华硕xtion的过程中出现了问题。
在运行openni后能够出现RGB图像和点云的图片。这种情况下会有warning，但是这并不影响使用；运行成功的终端显示如下：
mason@mason-VM62:~$ roslaunch openni_launch openni.launch
... logging to /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/roslaunch-mason-VM62-5143.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:38971/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/depth_registered_rectify_depth/interpolation: 0
* /camera/disparity_depth/max_range: 4.0
* /camera/disparity_depth/min_range: 0.5
* /camera/disparity_registered_hw/max_range: 4.0
* /camera/disparity_registered_hw/min_range: 0.5
* /camera/disparity_registered_sw/max_range: 4.0
* /camera/disparity_registered_sw/min_range: 0.5
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /rosdistro: indigo
* /rosversion: 1.11.21
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_hw_metric_rect (nodelet/nodelet)
depth_registered_metric (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [5161]
process[camera/driver-2]: started with pid [5162]
process[camera/rgb_debayer-3]: started with pid [5163]
process[camera/rgb_rectify_mono-4]: started with pid [5164]
process[camera/rgb_rectify_color-5]: started with pid [5166]
process[camera/ir_rectify_ir-6]: started with pid [5179]
process[camera/depth_rectify_depth-7]: started with pid [5189]
process[camera/depth_metric_rect-8]: started with pid [5193]
process[camera/depth_metric-9]: started with pid [5203]
process[camera/depth_points-10]: started with pid [5220]
process[camera/register_depth_rgb-11]: started with pid [5226]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [5236]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [5244]
process[camera/depth_registered_rectify_depth-14]: started with pid [5251]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [5265]
process[camera/depth_registered_hw_metric_rect-16]: started with pid [5275]
process[camera/depth_registered_metric-17]: started with pid [5295]
process[camera/disparity_depth-18]: started with pid [5301]
process[camera/disparity_registered_sw-19]: started with pid [5306]
[ INFO] [1504008251.643545409]: Initializing nodelet with 4 worker threads.
process[camera/disparity_registered_hw-20]: started with pid [5336]
process[camera_base_link-21]: started with pid [5339]
process[camera_base_link1-22]: started with pid [5342]
process[camera_base_link2-23]: started with pid [5349]
process[camera_base_link3-24]: started with pid [5360]
[ INFO] [1504008254.530422557]: Number devices connected: 1
[ INFO] [1504008254.631374765]: 1. device on bus 001:10 is a SensorV2 (601) from PrimeSense (1d27) with serial id '1504160884'
[ INFO] [1504008254.634524248]: Searching for device with index = 1
[ INFO] [1504008254.762050989]: Opened 'SensorV2' on bus 1:10 with serial number '1504160884'
[ INFO] [1504008254.910116634]: rgb_frame_id = 'camera_rgb_optical_frame'
[ INFO] [1504008254.910271503]: depth_frame_id = 'camera_depth_optical_frame'
[ WARN] [1504008255.028555667]: Camera calibration file /home/mason/.ros/camera_info/rgb_1504160884.yaml not found.
[ WARN] [1504008255.028687714]: Using default parameters for RGB camera calibration.
[ WARN] [1504008255.028742846]: Camera calibration file /home/mason/.ros/camera_info/depth_1504160884.yaml not found.
[ WARN] [1504008255.028784987]: Using default parameters for IR camera calibration.
不过如果关闭图像窗口后，重新进行相同的操作，却会显示有些问题，图像无法显示。网上差可能是不兼容usb3.0的问题，但是再换了USB2.0以后还会出现同样的结果。唯一的解决办法是重启电脑，但是失败的概率还是要比运行成功大很多。下面是运行失败的结果：
mason@mason-VM62:~$ roslaunch openni_launch openni.launch
... logging to /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/roslaunch-mason-VM62-7341.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:45838/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/depth_registered_rectify_depth/interpolation: 0
* /camera/disparity_depth/max_range: 4.0
* /camera/disparity_depth/min_range: 0.5
* /camera/disparity_registered_hw/max_range: 4.0
* /camera/disparity_registered_hw/min_range: 0.5
* /camera/disparity_registered_sw/max_range: 4.0
* /camera/disparity_registered_sw/min_range: 0.5
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #1
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /rosdistro: indigo
* /rosversion: 1.11.21
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_hw_metric_rect (nodelet/nodelet)
depth_registered_metric (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
ir_rectify_ir (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_debayer (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
rgb_rectify_mono (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [7359]
process[camera/driver-2]: started with pid [7360]
process[camera/rgb_debayer-3]: started with pid [7361]
process[camera/rgb_rectify_mono-4]: started with pid [7362]
process[camera/rgb_rectify_color-5]: started with pid [7367]
process[camera/ir_rectify_ir-6]: started with pid [7371]
process[camera/depth_rectify_depth-7]: started with pid [7379]
process[camera/depth_metric_rect-8]: started with pid [7392]
process[camera/depth_metric-9]: started with pid [7404]
process[camera/depth_points-10]: started with pid [7411]
process[camera/register_depth_rgb-11]: started with pid [7418]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [7422]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [7430]
process[camera/depth_registered_rectify_depth-14]: started with pid [7438]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [7445]
process[camera/depth_registered_hw_metric_rect-16]: started with pid [7452]
process[camera/depth_registered_metric-17]: started with pid [7466]
process[camera/disparity_depth-18]: started with pid [7470]
process[camera/disparity_registered_sw-19]: started with pid [7476]
process[camera/disparity_registered_hw-20]: started with pid [7482]
process[camera_base_link-21]: started with pid [7494]
process[camera_base_link1-22]: started with pid [7498]
process[camera_base_link2-23]: started with pid [7518]
process[camera_base_link3-24]: started with pid [7539]
[ INFO] [1504010033.169653016]: Initializing nodelet with 4 worker threads.
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
what(): unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/binarydeb/ros-indigo-openni-camera-1.9.5/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:
Image: PrimeSense/SensorV2/5.1.0.41: Got a timeout while waiting for a network command to complete!
[FATAL] [1504010037.548866511]: Failed to load nodelet '/camera/disparity_registered_sw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1504010037.548961258]: Failed to load nodelet '/camera/points_xyzrgb_hw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549180404]: Failed to load nodelet '/camera/depth_registered_sw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549202616]: Failed to load nodelet '/camera/register_depth_rgb` of type `depth_image_proc/register` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549564248]: Failed to load nodelet '/camera/depth_registered_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549603308]: Failed to load nodelet '/camera/driver` of type `openni_camera/driver` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549769343]: Failed to load nodelet '/camera/rgb_rectify_mono` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549828627]: Failed to load nodelet '/camera/depth_metric` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549915118]: Failed to load nodelet '/camera/disparity_depth` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549920427]: Failed to load nodelet '/camera/rgb_debayer` of type `image_proc/debayer` to manager `camera_nodelet_manager'
[FATAL] [1504010037.549943839]: Failed to load nodelet '/camera/disparity_registered_hw` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550116283]: Failed to load nodelet '/camera/depth_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550148698]: Failed to load nodelet '/camera/depth_registered_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550222856]: Failed to load nodelet '/camera/depth_registered_hw_metric_rect` of type `depth_image_proc/convert_metric` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550393969]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550433222]: Failed to load nodelet '/camera/depth_points` of type `depth_image_proc/point_cloud_xyz` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550837472]: Failed to load nodelet '/camera/rgb_rectify_color` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1504010037.550938945]: Failed to load nodelet '/camera/depth_rectify_depth` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[FATAL] [1504010037.552419887]: Failed to load nodelet '/camera/ir_rectify_ir` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[camera/camera_nodelet_manager-1] process has died [pid 7359, exit code -6, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-camera_nodelet_manager-1.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-camera_nodelet_manager-1*.log
[camera/driver-2] process has died [pid 7360, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load openni_camera/driver camera_nodelet_manager --no-bond ir:=ir rgb:=rgb depth:=depth depth_registered:=depth_registered projector:=projector __name:=driver __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-driver-2.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-driver-2*.log
[camera/rgb_debayer-3] process has died [pid 7361, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/debayer camera_nodelet_manager --no-bond image_raw:=rgb/image_raw image_mono:=rgb/image_mono image_color:=rgb/image_color __name:=rgb_debayer __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_debayer-3.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_debayer-3*.log
[camera/rgb_rectify_color-5] process has died [pid 7367, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_color image_rect:=rgb/image_rect_color __name:=rgb_rectify_color __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_rectify_color-5.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_rectify_color-5*.log
[camera/ir_rectify_ir-6] process has died [pid 7371, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=ir_rectify_ir __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-ir_rectify_ir-6.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-ir_rectify_ir-6*.log
[camera/depth_metric_rect-8] process has died [pid 7392, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_metric_rect-8.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_metric_rect-8*.log
[camera/depth_metric-9] process has died [pid 7404, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_metric-9.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_metric-9*.log
[camera/depth_points-10] process has died [pid 7411, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_points-10.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_points-10*.log
[camera/register_depth_rgb-11] process has died [pid 7418, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-register_depth_rgb-11.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-register_depth_rgb-11*.log
[camera/points_xyzrgb_sw_registered-12] process has died [pid 7422, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-points_xyzrgb_sw_registered-12.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-points_xyzrgb_sw_registered-12*.log
[camera/depth_registered_sw_metric_rect-13] process has died [pid 7430, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/sw_registered/image_rect_raw image:=depth_registered/sw_registered/image_rect __name:=depth_registered_sw_metric_rect __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_sw_metric_rect-13.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_sw_metric_rect-13*.log
[camera/depth_registered_hw_metric_rect-16] process has died [pid 7452, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/hw_registered/image_rect_raw image:=depth_registered/hw_registered/image_rect __name:=depth_registered_hw_metric_rect __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_hw_metric_rect-16.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_hw_metric_rect-16*.log
[camera/disparity_depth-18] process has died [pid 7470, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_depth-18.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_depth-18*.log
[camera/disparity_registered_hw-20] process has died [pid 7482, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/hw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_hw __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_registered_hw-20.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_registered_hw-20*.log
[camera/rgb_rectify_mono-4] process has died [pid 7362, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_mono image_rect:=rgb/image_rect_mono __name:=rgb_rectify_mono __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_rectify_mono-4.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-rgb_rectify_mono-4*.log
[camera/depth_rectify_depth-7] process has died [pid 7379, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_rectify_depth-7.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_rectify_depth-7*.log
[camera/depth_registered_rectify_depth-14] process has died [pid 7438, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_rectify_depth-14.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_rectify_depth-14*.log
[camera/points_xyzrgb_hw_registered-15] process has died [pid 7445, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-points_xyzrgb_hw_registered-15.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-points_xyzrgb_hw_registered-15*.log
[camera/depth_registered_metric-17] process has died [pid 7466, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth_registered/image_raw image:=depth_registered/image __name:=depth_registered_metric __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_metric-17.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-depth_registered_metric-17*.log
[camera/disparity_registered_sw-19] process has died [pid 7476, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_registered_sw-19.log].
log file: /home/mason/.ros/log/fb22b03c-8cb1-11e7-8e4b-dc85dee7f28b/camera-disparity_registered_sw-19*.log
不知道是否有人遇到同样的问题。难道必须重新配置环境么，求教解决办法。