root@arm:~# roslaunch openni2_launch openni2.launch  --screen
... logging to /root/.ros/log/8fa1383e-3dc6-11e4-9161-000c2998ecc6/roslaunch-arm-3539.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://arm:41247/

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/depth_camera_info_url:
 * /camera/driver/depth_frame_id: /camera_depth_opt...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url:
 * /camera/driver/rgb_frame_id: /camera_rgb_optic...
 * /rosdistro: indigo
 * /rosversion: 1.11.9

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)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    register_depth_rgb (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://192.168.100.11:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [3548]
process[camera/driver-2]: started with pid [3549]
[ INFO] [1410897524.647804265]: Initializing nodelet with 4 worker threads.
[ INFO] [1410897524.922121598]: Loading nodelet /camera/driver of type openni2_camera/OpenNI2DriverNodelet to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897524.927049057]: /camera/depth -> /camera/depth
[ INFO] [1410897524.928509307]: /camera/depth/image -> /camera/depth_registered/image_raw
[ INFO] [1410897524.931307390]: /camera/depth_registered -> /camera/depth_registered
[ INFO] [1410897524.934573723]: /camera/ir -> /camera/ir
[ INFO] [1410897524.935727932]: /camera/rgb -> /camera/rgb
[ INFO] [1410897524.936847307]: /camera/rgb/image -> /camera/rgb/image_raw
process[camera/rectify_color-3]: started with pid [3566]
[ INFO] [1410897525.517282015]: Loading nodelet /camera/rectify_color of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897525.523225015]: /camera/image_mono -> /camera/rgb/image_raw
[ INFO] [1410897525.529184765]: /camera/image_rect -> /camera/rgb/image_rect_color
process[camera/depth_rectify_depth-4]: started with pid [3571]
[ INFO] [1410897526.146626390]: Loading nodelet /camera/depth_rectify_depth of type image_proc/rectify to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897526.155428682]: /camera/image_mono -> /camera/depth/image_raw
[ INFO] [1410897526.157826890]: /camera/image_rect -> /camera/depth/image_rect_raw
process[camera/depth_metric_rect-5]: started with pid [3581]
[ INFO] [1410897526.599474557]: Device "1d27/0601@1/3" with serial number "1208250036" connected

[ INFO] [1410897526.828856432]: Loading nodelet /camera/depth_metric_rect of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897526.836091724]: /camera/image -> /camera/depth/image_rect
[ INFO] [1410897526.837763140]: /camera/image_raw -> /camera/depth/image_rect_raw
process[camera/depth_metric-6]: started with pid [3588]
[ INFO] [1410897527.562100890]: Loading nodelet /camera/depth_metric of type depth_image_proc/convert_metric to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897527.567750599]: /camera/image -> /camera/depth/image
[ INFO] [1410897527.572038974]: /camera/image_raw -> /camera/depth/image_raw
process[camera/depth_points-7]: started with pid [3596]
[ INFO] [1410897528.324031099]: Loading nodelet /camera/depth_points of type depth_image_proc/point_cloud_xyz to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897528.331590724]: /camera/image_rect -> /camera/depth/image_rect_raw
[ INFO] [1410897528.335989307]: /camera/points -> /camera/depth/points
process[camera/register_depth_rgb-8]: started with pid [3602]
[ INFO] [1410897529.103431307]: Loading nodelet /camera/register_depth_rgb of type depth_image_proc/register to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897529.111068016]: /camera/depth/camera_info -> /camera/depth/camera_info
[ INFO] [1410897529.116027724]: /camera/depth/image_rect -> /camera/depth/image_rect_raw
[ INFO] [1410897529.120151766]: /camera/depth_registered/image_rect -> /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1410897529.124503141]: /camera/rgb/camera_info -> /camera/rgb/camera_info
process[camera/points_xyzrgb_sw_registered-9]: started with pid [3607]
[ INFO] [1410897529.932280099]: Loading nodelet /camera/points_xyzrgb_sw_registered of type depth_image_proc/point_cloud_xyzrgb to manager camera_nodelet_manager with the following remappings:
[ INFO] [1410897529.940395724]: /camera/depth_registered/image_rect -> /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1410897529.944417516]: /camera/depth_registered/points -> /camera/depth_registered/points
[ INFO] [1410897529.949151516]: /camera/rgb/camera_info -> /camera/rgb/camera_info
[ INFO] [1410897529.952487266]: /camera/rgb/image_rect_color -> /camera/rgb/image_rect_color
process[camera_base_link-10]: started with pid [3612]
process[camera_base_link1-11]: started with pid [3619]
process[camera_base_link2-12]: started with pid [3626]
process[camera_base_link3-13]: started with pid [3631]
[ INFO] [1410897546.391230893]: Bond broken, exiting
[camera/driver-2] process has finished cleanly
log file: /root/.ros/log/8fa1383e-3dc6-11e4-9161-000c2998ecc6/camera-driver-2*.log