ROS下多个kinect在一台电脑上同时运行

运行环境：kinect V1，ubuntu14.04，ROS indigo，台式机（具备2个以上USB BUS，不是PORT）

课题需要在一台电脑上同时运行两个kinect，网上有提供方案，但是复现时出现了一些问题，修改了几个地方，整理如下：

首先，需要自己写一个launch文件，test.launch（文件名自定）：

<launch>
<!-- Parameters possible to change-->
<arg name="camera1_id" default="#1" /><!--here you can change 1@0 by the serial number -->
<arg name="camera2_id" default="#2" /><!--here you can change 2@0 by the  number -->
<!--arg name="camera1_id" default="B00366600710131B" /--><!--here you can change 1@0 by the serial number -->
<!--arg name="camera2_id" default="B00364210621048B" /--><!--here you can change 2@0 by the serial number -->
<!--arg name="camera3_id" default="#3" /--><!--here you can change 3@0 by the serial number -->
<arg name="depth_registration" default="true"/>

<!-- Default parameters-->
<arg name="camera1_name" default="kinect1" />
<arg name="camera2_name" default="kinect2" />
<!--arg name="camera3_name" default="kinect3" /-->

<!-- Putting the time back to realtime-->
<rosparam>
/use_sim_time : false
</rosparam>

<!-- Launching first kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera1_id)"/>
<arg name="camera" value="$(arg camera1_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />

<node name="rviz" pkg="rviz" type="rviz"/>
</include>

<!-- Launching second kinect-->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="device_id" value="$(arg camera2_id)"/>
<arg name="camera" value="$(arg camera2_name)"/>
<arg name="depth_registration" value="$(arg depth_registration)" />

<node name="rviz" pkg="rviz" type="rviz"/>
</include>

<!-- Launching third kinect-->
<!--include file="$(find openni_launch)/launch/openni.launch"-->
<!--arg name="device_id" value="$(arg camera3_id)"/-->
<!--arg name="camera" value="$(arg camera3_name)"/-->
<!--arg name="depth_registration" value="$(arg depth_registration)" /-->
<!--/include-->

</launch>

只要电脑配置有多个USB BUS，就可以接3个甚至更多个kinect。

将test.launch文件复制到：/opt/ros/indigo/share/openni_launch/launch

打开终端，运行：

roslaunch openni_launch test.launch

再打开一个终端，运行：

rosrun image_view image_view image:=/kinect1/rgb/image_color

再打开一个终端，运行：

rosrun image_view image_view image:=/kinect2/rgb/image_color

大功告成，运行结果如下图：

当然，也可以在rviz中查看两个kinect的数据。

参考链接：

http://www.aichengxu.com/view/37264
http://answers.ros.org/question/96071/accessing-multiple-kinects-in-ros-hydro/

enjoy！