OpenNI2 reconnection loop to the sensor

asked 2018-07-02 07:11:49 -0500

Iregon
26 ●1 ●2 ●4

updated 2018-07-02 09:51:15 -0500

When I start OpenNI2 on ROS Kinetic with the command roslaunch openni2_launch openni2.launch it start a continuous loop of reconnection to the sensor without any error. What am I doing wrong?

A part of message showed is:

...
[ WARN] [1530533003.851796857]: Detected loss of connection. Stopping all streams and resetting device
[ INFO] [1530533007.235240341]: Device "1d27/0600@1/100" found.
[ INFO] [1530533007.851254498]: Detected re-connect...attempting reinit
[ INFO] [1530533008.908591795]: Re-applying configuration to camera on re-init
[ INFO] [1530533008.929105097]: Starting color stream to adjust camera
[ INFO] [1530533008.929701752]: Starting color stream
[ INFO] [1530533008.994149364]: Restarting publishers, if needed
[ INFO] [1530533008.994949244]: Done re-initializing cameras
[ WARN] [1530533009.924432796]: Device "1d27/0600@1/100" disconnected

[ WARN] [1530533009.924909818]: Device "1d27/0600@1/100" disconnected

[ WARN] [1530533010.851467225]: Detected loss of connection. Stopping all streams and resetting device
[ INFO] [1530533013.346860905]: Device "1d27/0600@1/104" found.
[ INFO] [1530533013.851728189]: Detected re-connect...attempting reinit
[ INFO] [1530533015.018626401]: Re-applying configuration to camera on re-init
[ INFO] [1530533015.041487448]: Starting color stream to adjust camera
[ INFO] [1530533015.042497378]: Starting color stream.
[ INFO] [1530533015.107487509]: Restarting publishers, if needed
[ INFO] [1530533015.108841390]: Done re-initializing cameras
[ WARN] [1530533016.306939896]: Device "1d27/0600@1/104" disconnected

[ WARN] [1530533016.307475772]: Device "1d27/0600@1/104" disconnected

[ WARN] [1530533016.851243668]: Detected loss of connection. Stopping all streams and resetting device
[ INFO] [1530533019.735480141]: Device "1d27/0600@1/108" found.
[ INFO] [1530533019.851516723]: Detected re-connect...attempting reinit
[ INFO] [1530533021.408008103]: Re-applying configuration to camera on re-init
[ INFO] [1530533021.429622839]: Starting color stream to adjust camera
[ INFO] [1530533021.430399701]: Starting color stream.
[ INFO] [1530533021.493632167]: Restarting publishers, if needed
[ INFO] [1530533021.494297937]: Done re-initializing cameras
[ WARN] [1530533022.508973575]: Device "1d27/0600@1/108" disconnected

[ WARN] [1530533022.509527680]: Device "1d27/0600@1/108" disconnected
...

rosversion openni2_launch : 0.3.0

OS: Ubuntu mate 16.04
Sensor: Asus Xtion Pro Live
Platform: Raspberry Pi 3

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1

1) In general please go through support guideline http://wiki.ros.org/Support . 2) Provide more info (also noted in the guideline). E.g. Provide system output instead of verbally describing "start a continuous loop of reconnection to the sensor without any error" / output rosversion openni2_launch

130s ( 2018-07-02 09:24:40 -0500 )edit

2

3) You seemed to have posted OpenNI/OpenNI2#109. Also as noted in the support guideline, please refrain from multi-posting about a single issue/question.

130s ( 2018-07-02 09:25:57 -0500 )edit

1

I have correct all the issues and upgraded the question.

Iregon ( 2018-07-02 09:53:04 -0500 )edit

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answered 2018-07-02 13:22:11 -0500

Iregon
26 ●1 ●2 ●4

updated 2018-07-02 13:34:11 -0500

Thanks for answer.
I realized that the Asus Xtion Pro Live I have is the old version.

With the command lsusb I have seen Bus 001 Device 006: ID 1d27:0600 ASUS.
600: old version
610: new version

So I tried to install openni_launch instead of openni2_launch and it seems that everything is working perfectly.

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Good catch! I marked this as an answer. Also filed a ticket ros-drivers/openni2_camera#85.

130s ( 2018-07-03 11:54:58 -0500 )edit

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answered 2018-07-02 11:47:25 -0500

130s

10937 ●203 ●339 ●330 http://www.linkedin.co...

updated 2018-07-02 11:50:17 -0500

Not an answer though, comment section is too small for this.

Thanks for posting more info. Looks like openni2_camera ROS driver keeps losing the device connection even though it's able to re-connect immediately[1]. I noticed you're on RasPi3. I've never tried using Xtion with RasPi3 so can't speak for it much, but looks like there are people who's had success (e.g. #q265694), so keep on troubleshooting might be worth it. It's just the fact you're on micro device makes me lean more toward on thinking that the root cause isn't in ROS driver but somewhere else.

Some of the things I would do and fix if I see any issue:

Make sure the device's OS level connection is stable. Search into /var/log/syslog for any suspicious output.
Connect Xtion to other computer (preferably Ubuntu to make comparison simple) and check if that works.
Use a USB cable that can provide power externally (e.g. this product (I'm not affiliated to the seller etc.)). Less power provision may cause instant power off of the device.

HTH.

[1] Just as FYI, device re-connection in openni2_camera ROS driver level was introduced from version 0.2.9 (in this pull request) and personally this has been working stable on our system that runs 24/7.

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OpenNI2 reconnection loop to the sensor

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