Is there is a way to change source to one which does not depend on Openni (e.g. Astra) or get it work with Gazebo Simulation

[mzaiady]

I want to use tabletop and object detection with Gazebo simulation and with Turtlebot with Astra RGB-D or non-Openni source!

How to achieve that?

I changed the configuration files to topics published by Gazebo, but I got

[ INFO] [1485107783.427112596]: Initialized ROS. node_name: /object_recognition_server
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
X server found. dri2 connection failed!
[ INFO] [1485107783.798901256, 3646.770000000]: System already initialized. node_name: /object_recognition_server
[ INFO] [1485107783.805682051, 3646.780000000]: Subscribed to topic:/camera/depth_registered/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1485107783.808482435, 3646.780000000]: Subscribed to topic:/camera/rgb/camera_info [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1485107783.811689709, 3646.780000000]: Subscribed to topic:/camera/depth_registered/image_raw [queue_size: 1][tcp_nodelay: 0]
[ INFO] [1485107783.816693898, 3646.790000000]: Subscribed to topic:/camera/rgb/image_color [queue_size: 1][tcp_nodelay: 0]

Is there is any documentation how the package implemented and also on ecto_image_pipeline which contains camera source, and how to change the implementation!