Multiple kinects under ROS Indigo
Hi!
I'm facing the problem I can't handle myself. I know it has been discussed already, but not in my configuration, so I decided to ask you here. I want to run 2 kinects at the same time but it's not so obvious as I thought it will be. In my desktop computer I have only one USB bus so I bought specially ASUS U3S6 expansion card, and during the openni_launch I can see:
[ INFO] [1419095363.737608228]: Number devices connected: 2
[ INFO] [1419095363.737698260]: 1. device on bus 003:16 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id '0000000000000000'
[ INFO] [1419095363.737738820]: 2. device on bus 005:06 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00361901528049A'
It looks preety promising. So instead of launching two kinects in the same launch, I decided to do it in separate launches. Why? Somewhere in the deep of the Internet I read it'll be more stable. I created my own package with my own launch files, first launching camera named "camera1" at bus 3 and second one launching "camera2" at bus 5. I also change numworker_threads to 2 from 4, because my CPU have only 4 cores - I'm not sure it's necessary, but I want to be sure it'll be working and off course it's not. I can launch both kinects using both launch files but only one at the same time. If I try to launch second launch i get message:
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
what(): unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/buildd/ros-indigo-openni-camera-1.9.2-1trusty-20141104-2335/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:
Image: PrimeSense/SensorKinect/5.1.2.1: Failed to set USB interface!
And immediately after that:
[camera2/camera2_nodelet_manager-1] process has died [pid 5659, exit code -6, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=camera2_nodelet_manager __log:=/home/daniel/.ros/log/e90afa98-886e-11e4-9ee4-10feed172e37/camera2-camera2_nodelet_manager-1.log].
I run out of ideas what to do.. Can someone help?
Daniel
kinect1.launch:
<!-- Entry point for using OpenNI devices -->
<launch>
<!-- "camera" should uniquely identify the device. All topics are pushed down
into the "camera" namespace, and it is prepended to tf frame ids. -->
<arg name="camera" default="camera1" />
<arg name="tf_prefix" default="" />
<arg name="rgb_frame_id" default="$(arg camera)_rgb_optical_frame" />
<arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
<!-- device_id can have the following formats:
"B00367707227042B": Use device with given serial number
"#1" : Use first device found
"2@3" : Use device on USB bus 2, address 3
"2@0" : Use first device found on USB bus 2
-->
<arg name="device_id" default="3@0" />
<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
See camera_info_manager docs for calibration URL details. -->
<arg name="rgb_camera_info_url" default="" />
<arg name="depth_camera_info_url" default="" />
<!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
<arg name="depth_registration" default="false" />
<!-- Arguments for remapping all device namespaces -->
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth" default="depth" />
<arg name="depth_registered" default="depth_registered" />
<arg name="projector" default="projector" />
<!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
tree. Useful if you are playing back recorded raw data from a bag, or are
supplying a more accurate tf tree from calibration. -->
<arg name="load_driver" default="true" />
<arg name="publish_tf" default="true" />
<!-- Processing Modules -->
<arg name="rgb_processing" default="true"/>
<arg name="ir_processing" default="true"/>
<arg name="depth_processing" default="true"/>
<arg name="depth_registered_processing" default="true"/>
<arg name="disparity_processing" default="true"/>
<arg name="disparity_registered_processing" default="true"/>
<arg name="hw_registered_processing" default="true" />
<arg name="sw_registered_processing" default="true" />
<!-- Disable bond topics by default -->
<arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
<arg name="respawn" default="$(arg bond)" />
<!-- Worker threads for the nodelet manager -->
<arg name="num_worker_threads" default="2" />
<!-- Push down all topics/nodelets into "camera" namespace -->
<group ns="$(arg camera)">
<!-- Start nodelet manager in top-level namespace -->
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="$(arg debug)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>
<!-- Load driver -->
<include if="$(arg load_driver)"
file="$(find openni_launch)/launch/includes/device.launch.xml">
<!-- Could really use some syntactic sugar for this -->
<arg name="manager" value="$(arg manager)" />
<arg name="device_id" value="$(arg device_id)" />
<arg name="rgb_frame_id" value="$(arg rgb_frame_id)" />
<arg name="depth_frame_id" value="$(arg depth_frame_id)" />
<arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" />
<arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
</include>
<!-- Load standard constellation of processing nodelets -->
<include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
<arg name="manager" value="$(arg manager)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="rgb_processing" value="$(arg rgb_processing)" />
<arg name="ir_processing" value="$(arg ir_processing)" />
<arg name="depth_processing" value="$(arg depth_processing)" />
<arg name="depth_registered_processing" value="$(arg depth_registered_processing)" />
<arg name="disparity_processing" value="$(arg disparity_processing)" />
<arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
</include>
</group> <!-- camera -->
<!-- Load reasonable defaults for the relative pose between cameras -->
<include if="$(arg publish_tf)"
file="$(find rgbd_launch)/launch/kinect_frames.launch">
<arg name="camera" value="$(arg camera)" />
<arg name="tf_prefix" value="$(arg tf_prefix)" />
</include>
</launch>
kinect2.launch:
<!-- Entry point for using OpenNI devices -->
<launch>
<!-- "camera" should uniquely identify the device. All topics are pushed down
into the "camera" namespace, and it is prepended to tf frame ids. -->
<arg name="camera" default="camera2" />
<arg name="tf_prefix" default="" />
<arg name="rgb_frame_id" default="$(arg camera)_rgb_optical_frame" />
<arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
<!-- device_id can have the following formats:
"B00367707227042B": Use device with given serial number
"#1" : Use first device found
"2@3" : Use device on USB bus 2, address 3
"2@0" : Use first device found on USB bus 2
-->
<arg name="device_id" default="5@0" />
<!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
See camera_info_manager docs for calibration URL details. -->
<arg name="rgb_camera_info_url" default="" />
<arg name="depth_camera_info_url" default="" />
<!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
<arg name="depth_registration" default="false" />
<!-- Arguments for remapping all device namespaces -->
<arg name="rgb" default="rgb" />
<arg name="ir" default="ir" />
<arg name="depth" default="depth" />
<arg name="depth_registered" default="depth_registered" />
<arg name="projector" default="projector" />
<!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
tree. Useful if you are playing back recorded raw data from a bag, or are
supplying a more accurate tf tree from calibration. -->
<arg name="load_driver" default="true" />
<arg name="publish_tf" default="true" />
<!-- Processing Modules -->
<arg name="rgb_processing" default="true"/>
<arg name="ir_processing" default="true"/>
<arg name="depth_processing" default="true"/>
<arg name="depth_registered_processing" default="true"/>
<arg name="disparity_processing" default="true"/>
<arg name="disparity_registered_processing" default="true"/>
<arg name="hw_registered_processing" default="true" />
<arg name="sw_registered_processing" default="true" />
<!-- Disable bond topics by default -->
<arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
<arg name="respawn" default="$(arg bond)" />
<!-- Worker threads for the nodelet manager -->
<arg name="num_worker_threads" default="2" />
<!-- Push down all topics/nodelets into "camera" namespace -->
<group ns="$(arg camera)">
<!-- Start nodelet manager in top-level namespace -->
<arg name="manager" value="$(arg camera)_nodelet_manager" />
<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
<arg name="name" value="$(arg manager)" />
<arg name="debug" value="$(arg debug)" />
<arg name="num_worker_threads" value="$(arg num_worker_threads)" />
</include>
<!-- Load driver -->
<include if="$(arg load_driver)"
file="$(find openni_launch)/launch/includes/device.launch.xml">
<!-- Could really use some syntactic sugar for this -->
<arg name="manager" value="$(arg manager)" />
<arg name="device_id" value="$(arg device_id)" />
<arg name="rgb_frame_id" value="$(arg rgb_frame_id)" />
<arg name="depth_frame_id" value="$(arg depth_frame_id)" />
<arg name="rgb_camera_info_url" value="$(arg rgb_camera_info_url)" />
<arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
<arg name="depth_registration" value="$(arg depth_registration)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
</include>
<!-- Load standard constellation of processing nodelets -->
<include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
<arg name="manager" value="$(arg manager)" />
<arg name="rgb" value="$(arg rgb)" />
<arg name="ir" value="$(arg ir)" />
<arg name="depth" value="$(arg depth)" />
<arg name="depth_registered" value="$(arg depth_registered)" />
<arg name="projector" value="$(arg projector)" />
<arg name="respawn" value="$(arg respawn)" />
<arg name="rgb_processing" value="$(arg rgb_processing)" />
<arg name="ir_processing" value="$(arg ir_processing)" />
<arg name="depth_processing" value="$(arg depth_processing)" />
<arg name="depth_registered_processing" value="$(arg depth_registered_processing)" />
<arg name="disparity_processing" value="$(arg disparity_processing)" />
<arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
<arg name="hw_registered_processing" value="$(arg hw_registered_processing)" />
<arg name="sw_registered_processing" value="$(arg sw_registered_processing)" />
</include>
</group> <!-- camera -->
<!-- Load reasonable defaults for the relative pose between cameras -->
<include if="$(arg publish_tf)"
file="$(find rgbd_launch)/launch/kinect_frames.launch">
<arg name="camera" value="$(arg camera)" />
<arg name="tf_prefix" value="$(arg tf_prefix)" />
</include>
</launch>
Asked by daniel on 2014-12-20 12:48:02 UTC
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