Ubuntu16.04启动xtion pro live报错

william@william-System-Product-Name:~$ roslaunch openni2_launch openni2.launch
... logging to /home/william/.ros/log/b7e20fb0-8707-11e8-aaf9-30b49ea6df95/roslaunch-william-System-Product-Name-24982.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://william-System-Product-Name:38265/

SUMMARY
========

PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads: 4
* /camera/depth_rectify_depth/interpolation: 0
* /camera/driver/auto_exposure: True
* /camera/driver/auto_white_balance: True
* /camera/driver/color_depth_synchronization: False
* /camera/driver/color_mode: 5
* /camera/driver/depth_camera_info_url:
* /camera/driver/depth_frame_id: camera_depth_opti...
* /camera/driver/depth_mode: 5
* /camera/driver/depth_registration: False
* /camera/driver/device_id: #
* /camera/driver/ir_mode: 5
* /camera/driver/rgb_camera_info_url:
* /camera/driver/rgb_frame_id: camera_rgb_optica...
* /rosdistro: kinetic
* /rosversion: 1.12.13

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_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
camera_base_link (tf2_ros/static_transform_publisher)
camera_base_link1 (tf2_ros/static_transform_publisher)
camera_base_link2 (tf2_ros/static_transform_publisher)
camera_base_link3 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [24992]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b7e20fb0-8707-11e8-aaf9-30b49ea6df95
process[rosout-1]: started with pid [25005]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [25022]
process[camera/driver-3]: started with pid [25023]
process[camera/rgb_rectify_color-4]: started with pid [25024]
process[camera/depth_rectify_depth-5]: started with pid [25025]
process[camera/depth_metric_rect-6]: started with pid [25026]
process[camera/depth_metric-7]: started with pid [25027]
process[camera/depth_points-8]: started with pid [25028]
process[camera/register_depth_rgb-9]: started with pid [25029]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [25060]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [25070]
process[camera_base_link-12]: started with pid [25109]
process[camera_base_link1-13]: started with pid [25150]
process[camera_base_link2-14]: started with pid [25160]
process[camera_base_link3-15]: started with pid [25170]
[ INFO] [1531532786.277276656]: Initializing nodelet with 4 worker threads.
[ INFO] [1531532786.852095969]: Device "1d27/0601@1/11" found.
[ INFO] [1531532786.878107060]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.3.0/src/openni2_device.cpp @ 75 : Device open failed
Could not open "1d27/0601@1/11": Failed to open the USB device!

[ INFO] [1531532789.879192074]: No matching device found.... waiting for devices. Reason: openni2_wrapper::OpenNI2Device::OpenNI2Device(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.3.0/src/openni2_device.cpp @ 75 : Device open failed
Could not open "1d27/0601@1/11": Failed to open the USB device!

Warning: USB events thread - failed to set priority. This might cause loss of data...
[ WARN] [1531532804.168145059]: Reconnect has been enabled, only one camera should be plugged into each bus

貌似没有更好的解决方法，但是使用ROS命令行查看topic图像

/camera/rgb/image_raw

和

/camera/depth_registered/image_raw

完全没问题，因此可以忽略warnning吧！

直接跑rgbdslam！

错误：

roslaunch openni2_launch openni2.launch

报错：

[ INFO] [1547431093.208297665]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4./src/openni2_driver.cpp @  : Invalid device number , there are  devices connected.