如何同时运行kinect和华硕相机答案

【问题标题】：how to run kinect and ASUS cameras simultaneously如何同时运行kinect和华硕相机
【发布时间】：2019-02-28 08:35:04
【问题描述】：

我只能单独运行一台相机

我正在关注这个enter link description here

我需要同时运行两个摄像头

运行第二个相机时输出：

[ 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，这个文件会导致它们之间的冲突

<!-- 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 ...

freenect.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" />

  <arg name="data_skip" default="0" />

  <!-- device_id can have the following formats:
         "B00367707227042B": Use device with given serial number
         "#1"              : Use first device found
    -->
  <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="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" />

  <!-- enable libfreenect debug logging -->
  <arg name="libfreenect_debug" default="false" />

  <!-- enable diagnostics support for freenect_camera -->
  <arg name="enable_rgb_diagnostics" default="false" />
  <arg name="enable_ir_diagnostics" default="false" />
  <arg name="enable_depth_diagnostics" default="false" />
  <arg name="diagnostics_max_frequency" default="30.0" />
  <arg name="diagnostics_min_frequency" default="30.0" />
  <arg name="diagnostics_tolerance" default="0.05" />
  <arg name="diagnostics_window_time" default="5.0" />

  <!-- Push down all topics/nodelets into "camera" namespace -->
  <group ns="$(arg camera)">

    <!-- Start nodelet manager in provided 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 freenect_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="$(arg rgb_frame_id)" />
      <arg name="depth_frame_id"            value="$(arg depth_frame_id)" />
      <arg name="rgb_camera_info_url"       value="$(arg rgb_camera_info_url)" />
      <arg name="depth_camera_info_url"     value="$(arg depth_camera_info_url)" />
      <arg name="depth_registration"        value="$(arg depth_registration)" />
      <arg name="data_skip"                 value="$(arg data_skip)" />
      <arg name="rgb"                       value="$(arg rgb)" />
      <arg name="ir"                        value="$(arg ir)" />
      <arg name="depth"                     value="$(arg depth)" />
      <arg name="depth_registered"          value="$(arg depth_registered)" />
      <arg name="projector"                 value="$(arg projector)" />
      <arg name="respawn"                   value="$(arg respawn)" />
      <arg name="libfreenect_debug"         value="$(arg libfreenect_debug)" />
      <arg name="enable_rgb_diagnostics"    value="$(arg enable_rgb_diagnostics)" />
      <arg name="enable_ir_diagnostics"     value="$(arg enable_ir_diagnostics)" />
      <arg name="enable_depth_diagnostics"  value="$(arg enable_depth_diagnostics)" />
      <arg name="diagnostics_max_frequency" value="$(arg diagnostics_max_frequency)" />
      <arg name="diagnostics_min_frequency" value="$(arg diagnostics_min_frequency)" />
      <arg name="diagnostics_tolerance"     value="$(arg diagnostics_tolerance)" />
      <arg name="diagnostics_window_time"   value="$(arg diagnostics_window_time)" />
    </include>

    <!-- Load standard constellation of processing nodelets -->
    <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
      <arg name="manager"                         value="$(arg manager)" />
      <arg name="rgb"                             value="$(arg rgb)" />
      <arg name="ir"                              value="$(arg ir)" />
      <arg name="depth"                           value="$(arg depth)" />
      <arg name="depth_registered"                value="$(arg depth_registered)" />
      <arg name="projector"                       value="$(arg projector)" />
      <arg name="respawn"                         value="$(arg respawn)" />
      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
      <arg name="ir_processing"                   value="$(arg ir_processing)" />
      <arg name="depth_processing"                value="$(arg depth_processing)" />
      <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
      <arg name="disparity_processing"            value="$(arg disparity_processing)" />
      <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
      <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
      <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
    </include>

  </group> <!-- camera -->

  <!-- Load reasonable defaults for the relative pose between cameras -->
  <include if="$(arg publish_tf)"
       file="$(find rgbd_launch)/launch/kinect_frames.launch">
    <arg name="camera" value="$(arg camera)" />
  </include>

</launch>

我正在运行 Kinect

roslaunch freenect_launch freenect.launch

我正在运行华硕和 Kinect

roslaunch openni_launch openni.launch

一旦将华硕终端中的第二个摄像头作为第二个摄像头运行，输出：

[ERROR] [1550795336.052843598]: Failed to find nodelet with name '/camera/disparity_registered_hw' to unload

此外，Kinect 的输出变为：

[FATAL] [1550795336.061536430]: Failed to unload nodelet '/camera/disparity_registered_hw` from manager `camera_nodelet_manager'

请帮帮我

提前谢谢你

【问题讨论】：

标签： kinect ros asus

【解决方案1】：

我建议尝试在各自的命名空间中启动每个节点。查看启动文件，您应该可以运行：
roslaunch freenect_launch freenect.launch camera:=cam_kinect
和
roslaunch openni_launch openni.launch camera:=cam_asus

这应该避免与节点名称和主题名称冲突。

【讨论】：

很遗憾，它不起作用，输出：(example.com) italic bold No matching device found.... waiting for devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /tmp/binarydeb/ros-indigo-openni-camera-1.11.1/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: Failed to set USB interface!
此输出似乎与 camera 参数无关。尝试：（1）在没有相机参数的情况下单独运行每个相机（2）然后每个相机单独使用相机参数（3）如果前两个工作，然后尝试将它们与相机参数一起运行。
首先，非常感谢，(1) 不幸的是，它们没有使用相机参数运行 (2) 它单独运行 Kinect 由：roslaunch freenect_launch freenect.launch 和 ASUS Xtion 由：@ 987654327@,(3) 一起不行
我不明白为什么相机参数不起作用。您发布的启动文件明确接受该参数并将所有内容推送到该名称空间中，因此这应该有效。你在使用之前修改了那些启动文件吗？
目前我没有修改任何东西