奥比中光深度相机 openni找不到设备问题

[ INFO] [1579080421.139074113]: No matching device found… waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 787 : Device not found

实际该问题是openni2.launch问题 其中在usb总线上找到的设备不对。

问题再这里和下面一些代码

<arg name="device_id" default="#1" doc="device_id can have the following formats: '#1'  : the first device found '2@X' : the Xth device on USB bus 2"/>
<arg name="id_manufacturer" default="1d27"  doc="Vendor ID of the sensor (maintained at http://www.linux-usb.org/usb-ids.html). Default: ASUS."/>
<arg name="id_product" default="0601" doc="Product ID of the sensor. Default: Xtion."/>

可以对照 astra.launch修改/opt/ros/kinetic/share/openni2_launch/launch/openni2.launch，省事的话直接替换掉，不过最好做个备份