I tried kinect(1) live data too,also stucked after 2 frames .

ros@ros-All-Series:~$ roslaunch rgbdslam openni+rgbdslam.launch
... logging to /home/ros/.ros/log/cd92b358-3ed0-11e7-9065-9c5c8e7417d0/roslaunch-ros-All-Series-30627.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://ros-All-Series:38589/

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...
• /rgbdslam/config/backend_solver: pcg
• /rgbdslam/config/cloud_creation_skip_step: 2
• /rgbdslam/config/cloud_display_type: POINTS
• /rgbdslam/config/detector_grid_resolution: 3
• /rgbdslam/config/feature_detector_type: ORB
• /rgbdslam/config/feature_extractor_type: ORB
• /rgbdslam/config/max_keypoints: 600
• /rgbdslam/config/max_matches: 300
• /rgbdslam/config/min_sampled_candidates: 4
• /rgbdslam/config/neighbor_candidates: 4
• /rgbdslam/config/optimizer_skip_step: 1
• /rgbdslam/config/pose_relative_to: largest_loop
• /rgbdslam/config/predecessor_candidates: 4
• /rgbdslam/config/ransac_iterations: 100
• /rgbdslam/config/topic_image_depth: /camera/depth_reg...
• /rgbdslam/config/topic_image_mono: /camera/rgb/image...
• /rosdistro: kinetic
• /rosversion: 1.12.7

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 (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)
rgbdslam (rgbdslam/rgbdslam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [30645]
process[camera/driver-2]: started with pid [30646]
process[camera/rgb_debayer-3]: started with pid [30647]
process[camera/rgb_rectify_mono-4]: started with pid [30654]
process[camera/rgb_rectify_color-5]: started with pid [30657]
process[camera/ir_rectify_ir-6]: started with pid [30663]
process[camera/depth_rectify_depth-7]: started with pid [30685]
process[camera/depth_metric_rect-8]: started with pid [30699]
[ INFO] [1495445546.186406920]: Initializing nodelet with 4 worker threads.
process[camera/depth_metric-9]: started with pid [30705]
process[camera/depth_points-10]: started with pid [30726]
process[camera/register_depth_rgb-11]: started with pid [30743]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [30756]
process[camera/depth_registered_sw_metric_rect-13]: started with pid [30758]
process[camera/depth_registered_rectify_depth-14]: started with pid [30760]
process[camera/points_xyzrgb_hw_registered-15]: started with pid [30762]
process[camera/depth_registered_hw_metric_rect-16]: started with pid [30764]
process[camera/depth_registered_metric-17]: started with pid [30767]
process[camera/disparity_depth-18]: started with pid [30768]
process[camera/disparity_registered_sw-19]: started with pid [30776]
process[camera/disparity_registered_hw-20]: started with pid [30781]
process[camera_base_link-21]: started with pid [30794]
process[camera_base_link1-22]: started with pid [30796]
process[camera_base_link2-23]: started with pid [30802]
process[camera_base_link3-24]: started with pid [30821]
process[rgbdslam-25]: started with pid [30824]
Initializing Node...
[ INFO] [1495445546.391886445]: Connected to roscore
[ INFO] [1495445546.547355159]: Using ORB keypoint detector.
[ INFO] [1495445546.547400990]: Using gridded keypoint detector with 3x3 cells, keeping 900 keypoints in total.
[ INFO] [1495445546.547422233]: Using adjusted keypoint detector with 5 maximum iterations, keeping the number of keypoints between 67 and 100
[ INFO] [1495445546.559440531]: Listening to /camera/rgb/image_color and /camera/depth_registered/sw_registered/image_rect_raw
[ INFO] [1495445546.987299038]: Number devices connected: 1
[ INFO] [1495445546.987366750]: 1. device on bus 003:33 is a SensorKinect (2bf) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1495445546.988004063]: Searching for device with index = 1
[ INFO] [1495445548.023178676]: Opened 'SensorKinect' on bus 3:33 with serial number '0000000000000000'
[ INFO] [1495445548.043286984]: rgb_frame_id = 'camera_rgb_optical_frame'
[ INFO] [1495445548.043331903]: depth_frame_id = 'camera_depth_optical_frame'
[ WARN] [1495445548.045897463]: Camera calibration file /home/ros/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1495445548.045983213]: Using default parameters for RGB camera calibration.
[ WARN] [1495445548.046052566]: Camera calibration file /home/ros/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1495445548.046103473]: Using default parameters for IR camera calibration.
[ WARN] [1495445549.281150345]: First RGBD-Data Received
[ INFO] [1495445549.281569987]: Encoding: bgr8
Breaking detection iterations, because of missing depth[ INFO] [1495445549.314398409]: Feature 2d size: 580, 3D: 580
[ INFO] [1495445549.314433250]: Keypoints: 580
[ INFO] [1495445549.315419011]: Feature Count of Node: 580
[ WARN] [1495445549.325765042]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1495445549.325809822]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)
[ INFO] [1495445549.328708387]: Ground Truth Transform for First Node: Translation 0 0 0
[ INFO] [1495445549.328763625]: Ground Truth Transform for First Node: Rotation 0 0 0 1
[ INFO] [1495445549.328810734]: Adding initial node with id 0 and seq 0, v_id: 0
[ INFO] [1495445549.329036080]: Encoding: bgr8
[ INFO] [1495445549.329877369]: Setting Renderable
[ INFO] [1495445549.333865791]: No change to renderer skip (1).
[ INFO] [1495445549.334201918]: 1 Keyframes: 0,
Breaking detection iterations, because of missing depth[ INFO] [1495445549.358166495]: Feature 2d size: 573, 3D: 573
[ INFO] [1495445549.358222004]: Keypoints: 573
[ INFO] [1495445549.358236537]: Feature Count of Node: 573
[ WARN] [1495445549.368386711]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1495445549.368434152]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)
[ INFO] [1495445549.370663114]: Node ID's to compare with candidate for node 1. Sequential: 0
[ INFO] [1495445549.371370329]: Nodes to compare: 0,
[ INFO] [1495445549.371519002]: Running node comparisons in parallel in 3 (of 4) available threads
[ INFO] [1495445549.371846568]: Encoding: bgr8
[ INFO] [1495445549.371962504]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead.
[ INFO] [1495445549.376750050]: My bruteforce Search runtime: 0.00472622 s
[ INFO] [1495445549.376969659]: 1 good iterations (from 100), inlier pct 91, inlier cnt: 273, error (MHD): 1.13
[ INFO] [1495445549.376991047]: Nodes 1<->0: 1 good iterations (from 100), inlier pct 91, inlier cnt: 273, error (MHD): 1.13
[ INFO] [1495445549.377009305]: RANSAC found a valid transformation with 273 inliers matches with average ratio 0.079393
[ INFO] [1495445549.377020397]: Returning Valid Edge
[ INFO] [1495445549.377296058]: Result of comparison 0: �I
[ INFO] [1495445549.377325086]: Rotation: 0.13, Distance: 0.005m
[ INFO] [1495445549.377338598]: Rotation: 0.13, Distance: 0.005m
[ INFO] [1495445549.377377421]: Added Edge between 0 and 1. Inliers: 273
[ INFO] [1495445549.377398923]: Adding node with id 1 and seq id 1 to the graph
[ INFO] [1495445549.377411011]: create cloud 1 1 0
Breaking detection iterations, because of missing depth[ INFO] [1495445549.386035377]: No change to renderer skip (1).
[ INFO] [1495445549.386309363]: Added Node, new graphsize: 2 nodes
[ WARN] [1495445549.386643355]: Loop Closures: 0, Sequential Edges: 1
[ WARN] [1495445549.386789540]: Starting Optimization
[ WARN] [1495445549.386946762]: Optimization with 2 cams, 140363088038528 nodes and 140363088022768 edges in the graph
[ INFO] [1495445549.387124749]: optimizeGraphImpl runtime: 0.00066005 s
[ INFO] [1495445549.387595121]: Added, Camera Pose Graph Size: 2N/1E, Duration: 0.015847, Inliers: 273
[ INFO] [1495445549.411392496]: Feature 2d size: 577, 3D: 577
[ INFO] [1495445549.411446797]: Keypoints: 577
[ INFO] [1495445549.411468281]: Feature Count of Node: 577
[ WARN] [1495445549.421614344]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1495445549.421650997]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)
[ INFO] [1495445549.423788512]: Node ID's to compare with candidate for node 2. Sequential: 0, 1
[ INFO] [1495445549.424035732]: Nodes to compare: 1, 0,
[ INFO] [1495445549.424325088]: Running node comparisons in parallel in 3 (of 4) available threads
[ INFO] [1495445549.424486104]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead.
[ INFO] [1495445549.429217194]: My bruteforce Search runtime: 0.00465879 s
[ INFO] [1495445549.429417132]: 1 good iterations (from 100), inlier pct 98, inlier cnt: 295, error (MHD): 0.72
[ INFO] [1495445549.429446119]: Nodes 2<->1: 1 good iterations (from 100), inlier pct 98, inlier cnt: 295, error (MHD): 0.72
[ INFO] [1495445549.429460902]: RANSAC found a valid transformation with 295 inliers matches with average ratio 0.070426
[ INFO] [1495445549.429471305]: Returning Valid Edge
[ INFO] [1495445549.429499421]: You specified FLANN with ORB, this is SLOW! Using BRUTEFORCE instead.
[ INFO] [1495445549.431781479]: Encoding: bgr8
Breaking detection iterations, because of missing depth[ INFO] [1495445549.439791583]: My bruteforce Search runtime: 0.0102416 s
[ INFO] [1495445549.440017631]: 1 good iterations (from 100), inlier pct 86, inlier cnt: 260, error (MHD): 1.98
[ INFO] [1495445549.440049425]: Nodes 2<->0: 1 good iterations (from 100), inlier pct 86, inlier cnt: 260, error (MHD): 1.98
[ INFO] [1495445549.440070438]: RANSAC found a valid transformation with 260 inliers matches with average ratio 0.074407
[ INFO] [1495445549.440080627]: Returning Valid Edge
[ INFO] [1495445549.440119999]: Result of comparison 0: 08
[ INFO] [1495445549.440137911]: Rotation: 1.43, Distance: 0.050m
[ INFO] [1495445549.440158322]: Rotation: 1.43, Distance: 0.050m
[ INFO] [1495445549.443106606]: Feature 2d size: 578, 3D: 578
[ INFO] [1495445549.443135825]: Keypoints: 578
[ INFO] [1495445549.443158478]: Feature Count of Node: 578
[ WARN] [1495445549.453348471]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1495445549.453373741]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)

from rgbdslam_v2.

this happens both with kinect1 and kinect2
on ROSkinetic

from rgbdslam_v2.

I reinstall ubuntu16.04,and install rgbdslam again ,changing my sensor to kinect 1.Now everything works fine

from rgbdslam_v2.