how to run kinect and ASUS cameras simultaneously

asked 2019-02-21 02:54:48 -0600

Redhwan gravatar image

updated 2019-02-23 23:19:58 -0600

I can run just one camera alone

I am following this link

I need to run both cameras simultaneously

when running the second camera the output:

    [ INFO] [1550737732.951379947]: Initializing nodelet with 4 worker threads.
[FATAL] [1550737734.651595532]: Failed to load nodelet '/camera/rgb_rectify_mono` of type `image_proc/rectify` to manager `camera_nodelet_manager'
[camera/rgb_rectify_mono-4] process has died [pid 12535, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=rgb/image_mono image_rect:=rgb/image_rect_mono __name:=rgb_rectify_mono __log:=/home/turtlebot/.ros/log/4c3c5ce6-35a0-11e9-97f4-6c71d9e07c7b/camera-rgb_rectify_mono-4.log].
log file: /home/turtlebot/.ros/log/4c3c5ce6-35a0-11e9-97f4-6c71d9e07c7b/camera-rgb_rectify_mono-4*.log


<!-- Entry point for using OpenNI devices -->

  <!-- "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="camera" />
  <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="#1" />

  <!-- 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="depth_registered_filtered" 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="4" />

  <!-- 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)" />

    <!-- 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 ...
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Can you show us the launch file you're using to start the sensor nodes, or the commands you're using. This may be a problem of the ports being different when both devices are connected at the same time.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-02-21 11:59:24 -0600 )edit

sure, for Kinect:

roslaunch freenect_launch freenect.launch

for ASUS:

roslaunch openni_launch openni.launch

once running the second camera in the terminal of ASUS, output:

[ERROR] [1550795336.052843598]: Failed to find nodelet with name '/camera/disparity_registered_hw' to unload
Redhwan gravatar image Redhwan  ( 2019-02-21 18:33:38 -0600 )edit

also, the output for Kinect became:

[FATAL] [1550795336.061536430]: Failed to unload nodelet '/camera/disparity_registered_hw` from manager `camera_nodelet_manager'
Redhwan gravatar image Redhwan  ( 2019-02-21 18:38:33 -0600 )edit

This sounds like there may be a name conflict between the two launch files. Can you add both launch files to your original question and we'll see if we can find the problem.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-02-21 18:52:50 -0600 )edit

first of all, thank you so much @PeteBlackerThe3rd ok, I will do it

Redhwan gravatar image Redhwan  ( 2019-02-23 01:13:36 -0600 )edit