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!
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3 comments:

  1. shomeAugust 25, 2013 at 4:46 AM

    i installed the following in that order:

    https://github.com/jspricke/debian-openni
    https://github.com/jspricke/openni-sensor-primesense
    OS: ubuntu 12.04,64bit

    for both i used the RedistMaker & then the install.sh 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.

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    Replies
    1. JAugust 29, 2013 at 2:25 AM

      So, I'm not familiar with the jspricke openni debian drivers. Did you try installing the driver linked in the article (http://www.openni.org/openni-sdk/openni-sdk-history-2/)? I've tried this driver on Ubuntu 12.04 64-bit, and it should work.

      Delete
  2. dimOctober 25, 2013 at 9:54 AM

    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?

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