Usage¶
Simplest use¶
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.
Options/arguments¶
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
Support tools¶
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