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

openni.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="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)" />
    </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 ...
(more)
edit retag flag offensive close merge delete

Comments

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 imagePeteBlackerThe3rd ( 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 imageRedhwan ( 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 imageRedhwan ( 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 imagePeteBlackerThe3rd ( 2019-02-21 18:52:50 -0600 )edit

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

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