ros-kinfu launch (default kinfu2.launch)

.launch

rosuser@capture-bot:~/catkin_ws$ roslaunch kinfu kinfu2.launch 
... logging to /home/rosuser/.ros/log/cb78eaf0-669f-11e7-918f-34f39a77e43a/roslaunch-capture-bot-18170.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://capture-bot:46463/

SUMMARY
========

PARAMETERS
 * /kinect2_bridge/base_name: kinect2
 * /kinect2_bridge/base_name_tf: kinect2
 * /kinect2_bridge/bilateral_filter: True
 * /kinect2_bridge/calib_path: /home/rosuser/cat...
 * /kinect2_bridge/depth_device: -1
 * /kinect2_bridge/depth_method: default
 * /kinect2_bridge/edge_aware_filter: True
 * /kinect2_bridge/fps_limit: -1.0
 * /kinect2_bridge/jpeg_quality: 90
 * /kinect2_bridge/max_depth: 12.0
 * /kinect2_bridge/min_depth: 0.1
 * /kinect2_bridge/png_level: 1
 * /kinect2_bridge/publish_tf: False
 * /kinect2_bridge/queue_size: 5
 * /kinect2_bridge/reg_device: -1
 * /kinect2_bridge/reg_method: default
 * /kinect2_bridge/sensor: 
 * /kinect2_bridge/use_png: False
 * /kinect2_bridge/worker_threads: 4
 * /kinect2_points_xyzrgb_hd/queue_size: 5
 * /kinect2_points_xyzrgb_qhd/queue_size: 5
 * /kinect2_points_xyzrgb_sd/queue_size: 5
 * /kinect_kinfu1/autostart: True
 * /kinect_kinfu1/camera_info_topic: /kinect2/sd/camer...
 * /kinect_kinfu1/depth_height: 424
 * /kinect_kinfu1/depth_image_topic: /kinect2/sd/image...
 * /kinect_kinfu1/depth_width: 512
 * /kinect_kinfu1/extract_known_points: False
 * /kinect_kinfu1/prefix_topic: /kinect2
 * /kinect_kinfu1/request_topic: /kinfu_request_topic
 * /kinect_kinfu1/response_topic: /kinfu_response_t...
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    kinect2 (nodelet/nodelet)
    kinect2_bridge (nodelet/nodelet)
    kinect2_points_xyzrgb_hd (nodelet/nodelet)
    kinect2_points_xyzrgb_qhd (nodelet/nodelet)
    kinect2_points_xyzrgb_sd (nodelet/nodelet)
    kinect_kinfu1 (kinfu/kinfu)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[kinect2-1]: started with pid [18188]
process[kinect2_bridge-2]: started with pid [18189]
process[kinect2_points_xyzrgb_sd-3]: started with pid [18190]
process[kinect2_points_xyzrgb_qhd-4]: started with pid [18192]
process[kinect2_points_xyzrgb_hd-5]: started with pid [18205]
[ INFO] [1499822353.706394075]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:
ERROR: cannot launch node of type [kinfu/kinfu]: can't locate node [kinfu] in package [kinfu]
[ INFO] [1499822353.710968905]: waitForService: Service [/kinect2/load_nodelet] has not been advertised, waiting...
[ INFO] [1499822353.714126036]: Initializing nodelet with 8 worker threads.
[ INFO] [1499822353.731950545]: waitForService: Service [/kinect2/load_nodelet] is now available.
[ INFO] [1499822353.793774451]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect2
           sensor: default
        fps_limit: -1
       calib_path: /home/rosuser/catkin_ws/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: default
     depth_device: -1
       reg_method: default
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 5
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: false
     base_name_tf: kinect2
   worker_threads: 4
[Info] [CudaDepthPacketProcessorImpl] device 0: GeForce GTX 1060 @ 1670MHz Memory 6070MB
[Info] [CudaDepthPacketProcessorImpl] selected device 0
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 11 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:6 with serial 006611764147
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1499822354.040694820]: [Kinect2Bridge::initDevice] Kinect2 devices found: 
[ INFO] [1499822354.040742734]: [Kinect2Bridge::initDevice]   0: 006611764147 (selected)
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1499822354.133151449]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1499822354.778199341]: [Kinect2Bridge::initDevice] device serial: 006611764147
[ INFO] [1499822354.778269293]: [Kinect2Bridge::initDevice] device firmware: 4.0.3911.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[ WARN] [1499822355.102483012]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
[ WARN] [1499822355.102512618]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
[ WARN] [1499822355.102522215]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
[ WARN] [1499822355.102530443]: [Kinect2Bridge::initCalibration] using defaults for depth shift.
[ INFO] [1499822355.240556781]: [DepthRegistration::New] Using CPU registration method!
[ INFO] [1499822355.240640260]: [DepthRegistration::New] Using CPU registration method!
[ INFO] [1499822355.412982597]: [Kinect2Bridge::main] waiting for clients to connect