ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

Using 2 OpenNI devices

asked 2013-03-05 23:34:54 -0600

Has anyone used 2 Microsoft Kinect or 2 ASUS Xtion ? How can one do so ? Does ROS allow for 2 OpenNI devices with the same roscore ?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-03-06 04:24:09 -0600

stantol gravatar image

updated 2013-03-06 04:25:12 -0600

Openni and ROS do support multiple RGBD cameras. The first thing you need to do is make sure you have adequate hardware support. RGBD cameras transmit a lot of data via USB, going beyond what one bus can handle. Thus, you need to make sure that you have two separate USB2.0 buses/hubs available. (For Linux, the command 'lsusb' provides this information.) Once you do that, you can easily just call openni_launch multiple times, like so:

<!-- Entry point for using multiple RGBD devices -->
  <param name="use_sim_time" value="false" />
  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="camera" value="camera1" />
    <arg name="device_id" value="#1" />
    <arg name="depth_registration" value="true" />

  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="camera" value="camera2" />
    <arg name="device_id" value="#2" />
    <arg name="depth_registration" value="true" />
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2013-03-05 23:34:54 -0600

Seen: 679 times

Last updated: Mar 06 '13