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openni_tracker using two Kinects problem.

asked 2014-06-23 08:20:30 -0500

Mobile_robot gravatar image

updated 2014-06-23 09:26:32 -0500

Dear friends.

I am new in ROS and I am trying to track the human skeleton by two different Kinects (from different angles and distances).

But I can not run the "openni_tracker" with two different nods like :

  • List item rosrun openni_tracker openni_tracker image:=/Kinect_1/rgb/image_color
  • List item rosrun openni_tracker openni_tracker image:=/Kinect_2/rgb/image_color

Just one of them works... and the other stoped by the ROS telling :

  • List item [ WARN] [1403525116.319161909]: Shutdown request received. Does any one know how I could run this node two time paralleled in my computer?

Also, in case of the possible answer, the "openni_tracker" publish the output as a tfMessage on "/tf" topic. In case of two nodes working (by two different" camera, what will be the output of this node?


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answered 2014-06-24 05:24:11 -0500

Tirjen gravatar image

I don't know if you can run the openni_tracker on 2 kinects, but in this case I think the problem is that the second node you run has the same name as the first, which is then stopped. So I suggest you to make a launch file where you launch 2 nodes with different names and different parameters.

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@Tirjen : Indeed, I tried and worked very well, Thanks

Mobile_robot gravatar image Mobile_robot  ( 2014-06-24 08:22:47 -0500 )edit

If the problem is solved, please check the answer as correct

Tirjen gravatar image Tirjen  ( 2014-06-24 08:37:56 -0500 )edit

answered 2014-06-23 10:37:46 -0500

ccapriotti gravatar image

I trust that you are using a fairly recent distro, but, just in case, allow me to comment.

In the past there was a kernel bug that would make it impossible to have the kinect to run in USB 3 and also multiple kinects.

It was something about the amount of data on the USB bus.

Again, updating the system to a recent kernel (later than 3.6.x, if memory serves me well) fixed the problem.

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@ccapriotti : Thanks for your answer. I am not quite sure that I got your idea. I am using Groovy ROS, and by the way I am using USB 2, For me the question is that, is it possible to run two times but parallel this kind of node (openni_tracker). Thanks Hamed

Mobile_robot gravatar image Mobile_robot  ( 2014-06-24 03:07:55 -0500 )edit

Hello Hamed. Well, to answer your question, I know of quad Kinect implementations with ROS, but not sure if they use penni_tracker. But, the limitation I mentioned is a kernel bug on Linux, and not ROS, which will not allow more than one kinect to work at the same time, on USB 2 or 3....

ccapriotti gravatar image ccapriotti  ( 2014-06-24 15:40:47 -0500 )edit

... and would also break communication on USB3 ports, being one kinect or many.

ccapriotti gravatar image ccapriotti  ( 2014-06-24 15:41:37 -0500 )edit

Hello, Thanks a lot for your answer, In fact i tried ROSLAUNCH file, then I changed the name of the node, and now it is working I could have the picture of my both kinects at the same time and also I could run the OPENNI_TRACKER with both of them, But problem is that the OPENNI_TRACKER, just one time Generate the Skeleton (" openni user generator " ), so I saw some linke that they are trying to relate the Serial number or USB address of the each kinect to the openni user generator, that it could give them both, I didn't get the whole idea of their work yet and also I saw the limitation that you mentioned there as this link: "" If you have any idea i appreciate it. Thanks Hamed

Mobile_robot gravatar image Mobile_robot  ( 2014-06-25 08:48:44 -0500 )edit

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Asked: 2014-06-23 08:20:30 -0500

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Last updated: Jun 24 '14