Thursday, June 6, 2013

Using PrimeSense Carmine 1.09 in ROS

If you're using the new PrimeSense Carmine 1.09 short range RGB+D sensor in ROS, you may run into a few issues. When I tried to run openni_launch with this sensor out of the box, I got the following error:

[ INFO] [1370531242.800201916]: Number devices connected: 1
[ INFO] [1370531242.800284555]: 1. device on bus 003:07 is a PrimeSense Device (601) from PrimeSense (1d27) with serial id ''
[ INFO] [1370531242.801449470]: Searching for device with index = 1
[ INFO] [1370531242.902652607]: 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/buildd/ros-groovy-openni-camera-1.8.8-0precise-20130418-2203/src/openni_device.cpp @ 61 : creating depth generator failed. Reason: USB interface is not supported!

Thankfully I found this thread that deals with exactly the problem I was running into: being able to run the Asus Xtion Pro Live, but not the PrimeSense Carmine 1.09 short range sensor. 

The answer provides a link to access updated OpenNI drivers that will allow you to access the data for this sensor (choose the OpenNI-Compliant Sensor Driver v5.1.2.1 for your OS). With these drivers installed I have been able to successfully run the Carmine without any other real issues. 

Did this work for you? Let me know!


  1. i installed the following in that order:
    OS: ubuntu 12.04,64bit

    for both i used the RedistMaker & then the produced by redistmaker.

    However the carmine 1.09 doesnt work even after i used modified openni & sensor-primesense

    when i tried to run "pcl_openni_viewer" I get error
    Device Id not set, using first device.

    Kindly tell me how to get carmine 1.09 to work properly on ubuntu 12.04,64bit.

    1. So, I'm not familiar with the jspricke openni debian drivers. Did you try installing the driver linked in the article ( I've tried this driver on Ubuntu 12.04 64-bit, and it should work.

  2. Your solution works with me (Ubuntu 13.04, pcl 1.7, no ros), but there are several issues. (1) I cannot interface with kinect anymore! Probably drivers are conflicting or something. (2) My impression is that the frame rate is slow. (3) Usually I have to unplug and replug the camera to run again something. Any idea?