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Connecting two Kinects simultaneously using Fuerte?

asked 2012-06-13 06:38:32 -0500

molgamic gravatar image

updated 2016-10-24 09:03:34 -0500

ngrennan gravatar image

I am running ROS Fuerte on Linux, and right now I can run one Kinect using roslaunch openni_launch openni.launch, and use rviz to see both the depth and RGB cameras.

How can I get a second Kinect to work simultaneously? I tried attaching a second Kinect to a different USB bus, and lsusb recognizes both, but rviz still only sees the first Kinect when using Pointcloud2.

Thanks!

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answered 2012-06-13 07:57:59 -0500

Mac gravatar image

You'll need to provide some parameters to the second call to roslaunch, so that it picks up the correct device, and publishes the second point cloud on a different topic.

Also, you'll need to put each Kinect on a different USB bus; a Kinect saturates the bus it's on.

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answered 2012-06-13 07:19:40 -0500

You need to run two instances of the driver. Launching openni.launch twice should work. To be able to see both point clouds simultaneously, you'll also need a transform between the root link of each Kinect.

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Asked: 2012-06-13 06:38:32 -0500

Seen: 369 times

Last updated: Jun 13 '12