Astra Mini launch with no topic published


I using Astra Mini for my project now. But there are a really strange problem. I have installed Openni SDK(x64) and Astra SDK, astra camera and lauch for my ubuntu 14.04. All of my operations all follow the ReadMe file which contains in OPENNI Linux bagfile.

Once I tried to use: roslaunch astra_launch astra.launch to try to use the camera, it pub all topics and all of image looks fine at the first time. After that, I just ctrl+c to exit and launch again, no topic published and the terminal not print whether it find device or not. All of the image are disappear, which I think it won’t happended because it runs at first, I do nothing and just launch it again, it failed.

Do you have any idea about my situation? The terminal shows as below with the failed situation:

started roslaunch server http://irobotics-bbs:42545/



  • /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/bootorder: 0
  • /camera/driver/color_depth_synchronization: False
  • /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/devnums: 1
  • /camera/driver/rgb_camera_info_url:
  • /camera/driver/rgb_frame_id: camera_rgb_optica…
  • /rosdistro: indigo
  • /rosversion: 1.11.20

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 (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)

auto-starting new master
process[master]: started with pid [10618]

setting /run_id to 6678f406-f49b-11e9-a845-f44d3067861a
process[rosout-1]: started with pid [10631]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [10640]
process[camera/driver-3]: started with pid [10649]
process[camera/rgb_rectify_color-4]: started with pid [10650]
process[camera/depth_rectify_depth-5]: started with pid [10657]
process[camera/depth_metric_rect-6]: started with pid [10659]
process[camera/depth_metric-7]: started with pid [10669]
process[camera/depth_points-8]: started with pid [10675]
process[camera/register_depth_rgb-9]: started with pid [10683]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [10692]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [10713]
process[camera_base_link-12]: started with pid [10726]
process[camera_base_link1-13]: started with pid [10746]
process[camera_base_link2-14]: started with pid [10759]
process[camera_base_link3-15]: started with pid [10786]
[ INFO] [1571728390.435928591]: Initializing nodelet with 4 worker threads.

As you can see, it doesn’t even print device found or not found. I feel confused, if someone have meet the same issue before, please give me some advice. Thanks all.