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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 ?

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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 -->
<launch>
  <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>

  <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" />
  </include>
</launch>
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Asked: 2013-03-05 23:34:54 -0600

Seen: 601 times

Last updated: Mar 06 '13