kinect and astra cannot be launched together nicely
torifujinami opened this issue · comments
Hi,
I am working on a robot that has both a kinect v2 and an orbbec astra_mini. Unfortunately, we are running into this somewhat strange issue where if the kinect is running and we launch the astra mini, the astra mini is unable to output any data onto its topics. However, if launched in reverse order, if the astra mini is running and we launch the kinect, both sensors seem to run successfully. We are hoping that we can get to the bottom of this so that in the long term, the launching of the sensors is not coupled.
Do you have any ideas why this might happen or know of anything we can try to get both to launch successfully independent of each other?
We get the following errors from the astra_mini:
646361310 WARNING Image: Expected c186, got c18c
646361356 WARNING Image frame is corrupt!
646361384 WARNING Image: Expected c197, got c19b
646369996 WARNING Image: Expected c1d8, got c1de
646375885 WARNING Image: Expected c1e9, got c1ed
646375914 WARNING Image: Expected c1fc, got c202
646381304 WARNING Image: Expected c20d, got c211
646382612 WARNING Read: Image buffer is corrupt. Size is 156060 (!= 921600)
646390408 WARNING Image: Expected c23f, got c245
646390461 WARNING Image frame is corrupt!
646395699 WARNING Image: Expected c24f, got c253
646395723 WARNING Image: Expected c25f, got c265
646395737 WARNING Image: Expected c270, got c274
646405086 WARNING Image: Expected c2a7, got c2ad
646411035 WARNING Image: Expected c2b8, got c2bc
646411065 WARNING Image: Expected c2ca, got c2d0
646415662 WARNING Image: Expected c2db, got c2df
646415736 WARNING Read: Image buffer is corrupt. Size is 82620 (!= 921600)
646424525 WARNING Image: Expected c308, got c30e
646424590 WARNING Image frame is corrupt!
646429255 WARNING Image: Expected c31a, got c31e
646429430 WARNING Image: Expected c32c, got c332
646429466 WARNING Image: Expected c33b, got c33f
646438317 WARNING Image: Expected c371, got c377
646444347 WARNING Image: Expected c381, got c385
646444380 WARNING Image: Expected c392, got c398
646448849 WARNING Image: Expected c3a2, got c3a6
646448909 WARNING Read: Image buffer is corrupt. Size is 82620 (!= 921600)
646477187 WARNING Image: Expected c45e, got c464
646477235 WARNING Image frame is corrupt!
646480059 WARNING Image: Expected c469, got c463
646482190 WARNING Read: Image buffer is corrupt. Size is 729810 (!= 921600)
647014954 VERBOSE [FPS] IR: 0.00 Color: 29.05 Depth: 0.00
648013504 VERBOSE [FPS] IR: 0.00 Color: 29.04 Depth: 0.00
649011962 VERBOSE [FPS] IR: 0.00 Color: 29.04 Depth: 0.00
649356363 WARNING Image: Expected 83b, got 841
649356410 WARNING Image frame is corrupt!
649363193 WARNING Image: Expected 84b, got 84f
649364654 WARNING Image: Expected 85c, got 862
649364740 WARNING Image: Expected 86c, got 870
649371480 WARNING Image: Expected 8a6, got 8ac
649377392 WARNING Image: Expected 8b5, got 8b9
649377440 WARNING Image: Expected 8c5, got 8cb
649379607 WARNING Read: Image buffer is corrupt. Size is 206550 (!= 921600)
649379644 WARNING Image: Expected 8d8, got 8d2
649379652 WARNING Image frame is corrupt!
649379663 WARNING Read: Image buffer is corrupt. Size is 4590 (!= 921600)
649390442 WARNING Image: Expected 904, got 90a
649390515 WARNING Image frame is corrupt!
649395042 WARNING Image: Expected 915, got 919
649395150 WARNING Image: Expected 926, got 92c
649399506 WARNING Image: Expected 938, got 93c
649404541 WARNING Image: Expected 96f, got 975
649410548 WARNING Image: Expected 97f, got 983
649410581 WARNING Image: Expected 991, got 997
649412893 WARNING Read: Image buffer is corrupt. Size is 206550 (!= 921600)
649412930 WARNING Image: Expected 9a1, got 99b
649412937 WARNING Image frame is corrupt!
649412945 WARNING Read: Image buffer is corrupt. Size is 4590 (!= 921600)
649422695 WARNING Image: Expected 9cf, got 9d5
649422726 WARNING Image frame is corrupt!
649428284 WARNING Image: Expected 9e0, got 9e4
649428322 WARNING Image: Expected 9f1, got 9f7
649432706 WARNING Image: Expected a02, got a06
649437893 WARNING Image: Expected a37, got a3d
649443852 WARNING Image: Expected a48, got a4c
649443892 WARNING Image: Expected a59, got a5f
649446217 WARNING Read: Image buffer is corrupt. Size is 215730 (!= 921600)
649446279 WARNING Image: Expected a6a, got a64
649446295 WARNING Image frame is corrupt!
649446308 WARNING Read: Image buffer is corrupt. Size is 4590 (!= 921600)
649456030 WARNING Image: Expected a98, got a9e
649456060 WARNING Image frame is corrupt!
649461486 WARNING Image: Expected aa9, got aad
649461513 WARNING Image: Expected abb, got ac1
649466105 WARNING Image: Expected acb, got acf
649471163 WARNING Image: Expected b01, got b07
649477289 WARNING Image: Expected b12, got b16
649477330 WARNING Image: Expected b23, got b29
649479319 WARNING Read: Image buffer is corrupt. Size is 215730 (!= 921600)
649479355 WARNING Image: Expected b33, got b2d
649479362 WARNING Image frame is corrupt!
649479371 WARNING Read: Image buffer is corrupt. Size is 4590 (!= 921600)
649489086 WARNING Image: Expected b63, got b69
649489459 WARNING Image frame is corrupt!
649494681 WARNING Image: Expected b75, got b79
649494715 WARNING Image: Expected b86, got b8c
649499302 WARNING Image: Expected b96, got b9a
649510203 WARNING Image: Expected bcc, got bd2
649510239 WARNING Image: Expected bdc, got be0
649510270 WARNING Image: Expected bee, got bf4
And if we launch the astra mini independently of the rest of our system (kinect and all other ROS nodes are running) we get this error from the astra:
240996186 WARNING Endpoint 0x82, Buffer 9: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
240996212 WARNING Endpoint 0x82, Buffer 9: Transfer is still queued though event was raised!
242996376 WARNING Endpoint 0x82, Buffer 10: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
242996399 WARNING Endpoint 0x82, Buffer 10: Transfer is still queued though event was raised!
244996561 WARNING Endpoint 0x82, Buffer 11: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
244996594 WARNING Endpoint 0x82, Buffer 11: Transfer is still queued though event was raised!
246996777 WARNING Endpoint 0x82, Buffer 12: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
246996815 WARNING Endpoint 0x82, Buffer 12: Transfer is still queued though event was raised!
248997002 WARNING Endpoint 0x82, Buffer 13: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
248997060 WARNING Endpoint 0x82, Buffer 13: Transfer is still queued though event was raised!
250997239 WARNING Endpoint 0x82, Buffer 14: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
250997275 WARNING Endpoint 0x82, Buffer 14: Transfer is still queued though event was raised!
252997480 WARNING Endpoint 0x82, Buffer 15: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
252997508 WARNING Endpoint 0x82, Buffer 15: Transfer is still queued though event was raised!
252997590 WARNING Image: Expected 1093, got a511
252997597 WARNING Image frame is corrupt!
252997614 WARNING Image: Expected a519, got a513
254997929 WARNING Endpoint 0x82, Buffer 2: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
254997966 WARNING Endpoint 0x82, Buffer 2: Transfer is still queued though event was raised!
256998143 WARNING Endpoint 0x82, Buffer 3: Failed waiting on asynch transfer event: Xiron OS got an event timeout!
256998174 WARNING Endpoint 0x82, Buffer 3: Transfer is still queued though event was raised!
We are currently discussing with orbbec people already, but I was wondering if maybe anyone else has run into this issue and had a solution for it.
Thanks in advance!
Hi, did you plug the two sensors on two different USB bus?
There is probably two much data for only one bus
Hi, did you plug the two sensors on two different USB bus?
There is probably two much data for only one bus
Hi Jimmy, thanks for commenting. I forgot to mention, but we did verify the devices are on different buses. The Kinect is currently on bus 4 and the astra_mini is currently on bus 3.