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This package contains several launch files, but openni.launch serves as a single point of entry. It can be started by:
roslaunch openni2_launch openni.launch
Note that with this command the camera driver only accesses a single device. So run as many launch files as needed with correct arguments if you're running multiple devices.
openni.launch takes the following options.
- device_id: can have the following formats:
- #1 : the first device found
- 2@X : the Xth device on USB bus 2.
E.g. When 2 openni2-based cameras are connected and lsusb -t returns the following, where Dev 18 and 19 are the cameras, device_id can be 3@18 and 3@19:
$ lsusb -t
/: Bus 03.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/14p, 480M
|__ Port 2: Dev 18, If 0, Class=Vendor Specific Class, Driver=usbfs, 480M
|__ Port 2: Dev 18, If 1, Class=Audio, Driver=, 480M
|__ Port 2: Dev 18, If 2, Class=Audio, Driver=, 480M
|__ Port 3: Dev 15, If 0, Class=Human Interface Device, Driver=usbhid, 1.5M
|__ Port 3: Dev 15, If 1, Class=Human Interface Device, Driver=usbhid, 1.5M
|__ Port 6: Dev 19, If 0, Class=Vendor Specific Class, Driver=usbfs, 480M
|__ Port 6: Dev 19, If 1, Class=Audio, Driver=, 480M
|__ Port 6: Dev 19, If 2, Class=Audio, Driver=, 480M
TBD
Check the number of devices plugged in by roswtf plugin.
Change the number of devices to expect by setting the number in ROS parameter "openni2_num_sensors_expected".
Example:
$ lsusb : Bus 005 Device 002: ID 1d27:0601 ASUS Bus 003 Device 002: ID 1d27:0601 ASUS term-1$ roscore term-2$ roswtf Loaded plugin tf.tfwtf Loaded plugin openni2_launch.wtf_plugin No package or stack in context ================================================================================ Static checks summary: Found 1 error(s). ERROR Different number of openni2 sensors found. * 2 openni2 sensors found (expected: 1). ================================================================================ Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules Online checks summary: Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following node subscriptions are unconnected: * /rosout: * /rosout
After setting openni2_num_sensors_expected param with 2, no error occurs.
term-2$ rosparam set openni2_num_sensors_expected 2 $ roswtf Loaded plugin tf.tfwtf Loaded plugin openni2_launch.wtf_plugin No package or stack in context ================================================================================ Static checks summary: No errors or warnings ================================================================================ Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules Online checks summary: Found 1 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following node subscriptions are unconnected: * /rosout: * /rosout