.. openni2_launch documentation master file, created by sphinx-quickstart on Fri Nov 3 15:35:05 2017. You can adapt this file completely to your liking, but it should at least contain the root `toctree` directive. .. toctree:: :maxdepth: 2 ========== 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 Indices and tables ================== * :ref:`genindex` * :ref:`modindex` * :ref:`search`