Revision history [back]

Update: solution suggestion

After fiddling around with the options a bit, here is my current workaround to the problem of having no serial available from the xtion.

With lsusb I determined that my PC has two separate hubs available for external USB devices, allowing me to plug in one xtion for each. Since the bus number doesn't chance, I can be sure that the xtion connected to a specific bus is always the same.

By moving the calibration files (named depth.yaml and rgb.yaml) into separate folders, I can assign the calibrations with the corresponding xtion. The serial number naming for the folders are based on a manual readning on the physical device.

This allows a fairly consistent behaviour, and for now it is sufficient to solve all my current problems with the devices having no serial number.

I include my customized .launch file below in case others have the same issue.

<launch>

<!-- Start xtion sensor 1 (on USB bus 1) -->

<include file="$(find openni_launch)/launch/openni.launch">
  <arg name="camera" default="xtion1" />

  <!-- 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@0" />
  <arg name="rgb_camera_info_url"   default="package://scenecamera/calibrations/C9IVVBDA13767/rgb.yaml" />
  <arg name="depth_camera_info_url" default="package://scenecamera/calibrations/C9IVVBDA13767/depth.yaml" />
  <arg name="depth_registration" default="true" />
  <arg name="publish_tf" default="true" />
</include>

<!-- Start xtion sensor 2 (on USB bus 2) -->

<include file="$(find openni_launch)/launch/openni.launch">
  <arg name="camera" default="xtion2" />
  <arg name="device_id" default="2@0" />
  <arg name="rgb_camera_info_url"   default="package://scenecamera/calibrations/C9IVVBDA13763/rgb.yaml" />
  <arg name="depth_camera_info_url" default="package://scenecamera/calibrations/C9IVVBDA13763/depth.yaml" />
  <arg name="depth_registration" default="true" />
  <arg name="publish_tf" default="true" />
</include>

</launch>

--- Original post ---