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orbbec / OrbbecSDK_ROS2

OrbbecSDK ROS2 wrapper
https://orbbec.github.io/OrbbecSDK_ROS2/
Apache License 2.0
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Error running multi camera executable #10

Open jcgarciaca opened 9 months ago

jcgarciaca commented 9 months ago

Hi, I have three (Stereo S U3) cameras but launch multi camera does not work. I modified multi_camera.launch.py as below. But when launching it, only one camera's topics are published

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    # Include launch files
    package_dir = get_package_share_directory('orbbec_camera')
    launch_file_dir = os.path.join(package_dir, 'launch')
    launch1_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'astra_stereo_u3.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_01',
            'usb_port': '1-6.2',
            'device_num': '3'
        }.items()
    )

    launch2_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'astra_stereo_u3.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_02',
            'usb_port': '1-4.2',
            'device_num': '3'
        }.items()
    )

    launch3_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'astra_stereo_u3.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_03',
            'usb_port': '1-3.2',
            'device_num': '3'
        }.items()
    )

    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num

    # Launch description
    ld = LaunchDescription([
        GroupAction([launch1_include]),
        GroupAction([launch2_include]),
        GroupAction([launch3_include]),
    ])

    return ld

The output is as follows

ros2 launch orbbec_camera multi_camera.launch.py
[INFO] [launch]: All log files can be found below /home/samibotpc/.ros/log/2023-10-05-22-18-08-962018-samibotpc-NUC11ATKC4-2996
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [component_container-2]: there are now at least 2 nodes with the name /camera_container created within this launch context
[WARNING] [component_container-3]: there are now at least 3 nodes with the name /camera_container created within this launch context
[INFO] [component_container-1]: process started with pid [3011]
[INFO] [component_container-2]: process started with pid [3013]
[INFO] [component_container-3]: process started with pid [3015]
[component_container-3] [INFO] [1696562289.439998049] [camera_container]: Load Library: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1696562289.439987897] [camera_container]: Load Library: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-2] [INFO] [1696562289.439982196] [camera_container]: Load Library: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-2] [INFO] [1696562289.533016769] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-2] [INFO] [1696562289.533078644] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [INFO] [1696562289.534197564] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [INFO] [1696562289.534878755] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562289.536276296] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562289.536332065] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [10/05 22:18:09.543990][debug][3015][Context.cpp:29] Context creating. work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-3] [10/05 22:18:09.544058][debug][3015][Context.cpp:48] Config file version=1.1
[component_container-3] [10/05 22:18:09.544082][debug][3015][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB
[component_container-3] [10/05 22:18:09.544094][info][3015][Context.cpp:67] Context created with config: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-3] [10/05 22:18:09.544102][info][3015][Context.cpp:72] Context work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-2] [10/05 22:18:09.543992][debug][3013][Context.cpp:29] Context creating. work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-1] [10/05 22:18:09.543990][debug][3011][Context.cpp:29] Context creating. work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-1] [10/05 22:18:09.544058][debug][3011][Context.cpp:48] Config file version=1.1
[component_container-1] [10/05 22:18:09.544082][debug][3011][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB
[component_container-1] [10/05 22:18:09.544093][info][3011][Context.cpp:67] Context created with config: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [10/05 22:18:09.544101][info][3011][Context.cpp:72] Context work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-1] [10/05 22:18:09.544115][debug][3011][DeviceManager.cpp:30] DeviceManager init ...
[component_container-1] [10/05 22:18:09.544121][debug][3011][LinuxPal.cpp:35] createObPal: create LinuxPal!
[component_container-3] [10/05 22:18:09.544115][debug][3015][DeviceManager.cpp:30] DeviceManager init ...
[component_container-3] [10/05 22:18:09.544122][debug][3015][LinuxPal.cpp:35] createObPal: create LinuxPal!
[component_container-2] [10/05 22:18:09.547357][debug][3013][Context.cpp:48] Config file version=1.1
[component_container-2] [10/05 22:18:09.547955][debug][3013][FrameBufferManager.cpp:23] Max global frame buffer size updated! size=2048.000MB
[component_container-2] [10/05 22:18:09.548476][info][3013][Context.cpp:67] Context created with config: /home/samibotpc/Documents/samibot_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-2] [10/05 22:18:09.548952][info][3013][Context.cpp:72] Context work_dir=/home/samibotpc/Documents/samibot_ws
[component_container-2] [10/05 22:18:09.549399][debug][3013][DeviceManager.cpp:30] DeviceManager init ...
[component_container-2] [10/05 22:18:09.549818][debug][3013][LinuxPal.cpp:35] createObPal: create LinuxPal!
[component_container-1] [10/05 22:18:09.555131][debug][3011][DeviceManager.cpp:34] Enable USB Device Enumerator ...
[component_container-3] [10/05 22:18:09.556416][debug][3015][DeviceManager.cpp:34] Enable USB Device Enumerator ...
[component_container-2] [10/05 22:18:09.560413][debug][3013][DeviceManager.cpp:34] Enable USB Device Enumerator ...
[component_container-1] [10/05 22:18:09.879191][debug][3011][EnumeratorLibusb.cpp:323] queryDevicesInfo done!
[component_container-1] [10/05 22:18:09.879400][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video7
[component_container-1] [10/05 22:18:09.880141][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video5
[component_container-1] [10/05 22:18:09.880739][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video3
[component_container-1] [10/05 22:18:09.881307][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video13
[component_container-1] [10/05 22:18:09.881901][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video1
[component_container-1] [10/05 22:18:09.882576][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video11
[component_container-1] [10/05 22:18:09.883210][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video8
[component_container-2] [10/05 22:18:09.882644][debug][3013][EnumeratorLibusb.cpp:323] queryDevicesInfo done!
[component_container-2] [10/05 22:18:09.882791][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video7
[component_container-1] [10/05 22:18:09.883901][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video6
[component_container-2] [10/05 22:18:09.884516][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video5
[component_container-2] [10/05 22:18:09.885025][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video3
[component_container-2] [10/05 22:18:09.885484][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video13
[component_container-2] [10/05 22:18:09.885944][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video1
[component_container-3] [10/05 22:18:09.885812][debug][3015][EnumeratorLibusb.cpp:323] queryDevicesInfo done!
[component_container-3] [10/05 22:18:09.886120][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video7
[component_container-2] [10/05 22:18:09.886406][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video11
[component_container-2] [10/05 22:18:09.886686][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video8
[component_container-3] [10/05 22:18:09.886961][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video5
[component_container-2] [10/05 22:18:09.887050][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video6
[component_container-3] [10/05 22:18:09.887326][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video3
[component_container-3] [10/05 22:18:09.887594][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video13
[component_container-3] [10/05 22:18:09.887888][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video1
[component_container-3] [10/05 22:18:09.888131][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video11
[component_container-3] [10/05 22:18:09.888384][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video8
[component_container-3] [10/05 22:18:09.888755][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video6
[component_container-3] [10/05 22:18:09.972931][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video4
[component_container-1] [10/05 22:18:09.972926][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video4
[component_container-2] [10/05 22:18:09.973017][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video4
[component_container-1] [10/05 22:18:09.974105][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video2
[component_container-3] [10/05 22:18:09.974184][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video2
[component_container-2] [10/05 22:18:09.974779][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video2
[component_container-1] [10/05 22:18:09.974952][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video12
[component_container-3] [10/05 22:18:09.975154][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video12
[component_container-2] [10/05 22:18:09.976088][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video12
[component_container-2] [10/05 22:18:10.064926][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video0
[component_container-1] [10/05 22:18:10.064921][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video0
[component_container-3] [10/05 22:18:10.065082][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video0
[component_container-3] [10/05 22:18:10.065967][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video10
[component_container-3] [10/05 22:18:10.067301][debug][3015][ObV4lDevice.cpp:341] Found video4linux: video9
[component_container-2] [10/05 22:18:10.065968][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video10
[component_container-2] [10/05 22:18:10.066946][debug][3013][ObV4lDevice.cpp:341] Found video4linux: video9
[component_container-2] [10/05 22:18:10.068105][debug][3013][UsbDeviceEnumerator.cpp:134] Current usb device port list:
[component_container-2] [10/05 22:18:10.068161][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-6.2-17.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-2] [10/05 22:18:10.068181][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-6.1-13.0 | USB Camera
[component_container-2] [10/05 22:18:10.068198][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-4.2-10.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-2] [10/05 22:18:10.068213][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-4.1-6.0 | USB Camera
[component_container-2] [10/05 22:18:10.068229][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-3.2-7.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-2] [10/05 22:18:10.068244][debug][3013][UsbDeviceEnumerator.cpp:137]  - 1-3.1-4.0 | USB Camera
[component_container-1] [10/05 22:18:10.066267][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video10
[component_container-1] [10/05 22:18:10.067172][debug][3011][ObV4lDevice.cpp:341] Found video4linux: video9
[component_container-2] [10/05 22:18:10.068323][warning][3013][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-2] [10/05 22:18:10.068349][warning][3013][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-2] [10/05 22:18:10.068371][warning][3013][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-2] [10/05 22:18:10.068642][info][3013][LinuxPal.cpp:109] Create PollingDeviceWatcher!
[component_container-2] [10/05 22:18:10.068682][debug][3013][UsbDeviceEnumerator.cpp:42] Found 3 device(s):
[component_container-2] [10/05 22:18:10.068708][debug][3013][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-2] [10/05 22:18:10.068727][debug][3013][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-2] [10/05 22:18:10.068744][debug][3013][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-2] [10/05 22:18:10.068765][debug][3013][DeviceManager.cpp:47] Enable Net Device Enumerator ...
[component_container-1] [10/05 22:18:10.068426][debug][3011][UsbDeviceEnumerator.cpp:134] Current usb device port list:
[component_container-1] [10/05 22:18:10.068469][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-6.2-17.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-1] [10/05 22:18:10.068489][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-6.1-13.0 | USB Camera
[component_container-1] [10/05 22:18:10.068505][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-4.2-10.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-1] [10/05 22:18:10.068521][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-4.1-6.0 | USB Camera
[component_container-1] [10/05 22:18:10.068536][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-3.2-7.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-1] [10/05 22:18:10.068552][debug][3011][UsbDeviceEnumerator.cpp:137]  - 1-3.1-4.0 | USB Camera
[component_container-1] [10/05 22:18:10.068604][warning][3011][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-1] [10/05 22:18:10.068629][warning][3011][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-1] [10/05 22:18:10.068650][warning][3011][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-1] [10/05 22:18:10.068928][info][3011][LinuxPal.cpp:109] Create PollingDeviceWatcher!
[component_container-1] [10/05 22:18:10.068976][debug][3011][UsbDeviceEnumerator.cpp:42] Found 3 device(s):
[component_container-1] [10/05 22:18:10.069000][debug][3011][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-1] [10/05 22:18:10.069020][debug][3011][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-1] [10/05 22:18:10.069039][debug][3011][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-1] [10/05 22:18:10.069059][debug][3011][DeviceManager.cpp:47] Enable Net Device Enumerator ...
[component_container-3] [10/05 22:18:10.068674][debug][3015][UsbDeviceEnumerator.cpp:134] Current usb device port list:
[component_container-3] [10/05 22:18:10.068725][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-6.2-17.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-3] [10/05 22:18:10.068750][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-6.1-13.0 | USB Camera
[component_container-3] [10/05 22:18:10.068770][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-4.2-10.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-3] [10/05 22:18:10.068789][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-4.1-6.0 | USB Camera
[component_container-3] [10/05 22:18:10.068807][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-3.2-7.0 | Orbbec(R) Astra(TM) 3D Camera(F) Depth
[component_container-3] [10/05 22:18:10.068866][debug][3015][UsbDeviceEnumerator.cpp:137]  - 1-3.1-4.0 | USB Camera
[component_container-3] [10/05 22:18:10.068928][warning][3015][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-3] [10/05 22:18:10.068957][warning][3015][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-3] [10/05 22:18:10.068982][warning][3015][OpenNIDeviceInfo.cpp:180] New openni device matched.
[component_container-3] [10/05 22:18:10.069236][info][3015][LinuxPal.cpp:109] Create PollingDeviceWatcher!
[component_container-3] [10/05 22:18:10.069286][debug][3015][UsbDeviceEnumerator.cpp:42] Found 3 device(s):
[component_container-3] [10/05 22:18:10.069310][debug][3015][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-3] [10/05 22:18:10.069328][debug][3015][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-3] [10/05 22:18:10.069344][debug][3015][UsbDeviceEnumerator.cpp:45]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , connection: USB2.0
[component_container-3] [10/05 22:18:10.069363][debug][3015][DeviceManager.cpp:47] Enable Net Device Enumerator ...
[component_container-3] [10/05 22:18:11.074636][debug][3015][NetDeviceEnumerator.cpp:52] No net source port found!
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_01/camera_01' in container '/camera_container'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_02/camera_02' in container '/camera_container'
[component_container-3] [10/05 22:18:11.074760][debug][3015][NetDeviceEnumerator.cpp:30] No net device found!
[component_container-3] [10/05 22:18:11.074908][info][3015][DeviceManager.cpp:15] Current found device(s): (3)
[component_container-3] [10/05 22:18:11.074954][info][3015][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-3] [10/05 22:18:11.074975][info][3015][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-3] [10/05 22:18:11.075000][info][3015][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-3] [10/05 22:18:11.075016][debug][3015][DeviceManager.cpp:57] DeviceManager construct done!
[component_container-1] [10/05 22:18:11.074938][debug][3011][NetDeviceEnumerator.cpp:52] No net source port found!
[component_container-1] [10/05 22:18:11.075004][debug][3011][NetDeviceEnumerator.cpp:30] No net device found!
[component_container-1] [10/05 22:18:11.075185][info][3011][DeviceManager.cpp:15] Current found device(s): (3)
[component_container-1] [10/05 22:18:11.075224][info][3011][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-1] [10/05 22:18:11.075247][info][3011][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-1] [10/05 22:18:11.075264][info][3011][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-1] [10/05 22:18:11.075281][debug][3011][DeviceManager.cpp:57] DeviceManager construct done!
[component_container-2] [10/05 22:18:11.076490][debug][3013][NetDeviceEnumerator.cpp:52] No net source port found!
[component_container-2] [10/05 22:18:11.076602][debug][3013][NetDeviceEnumerator.cpp:30] No net device found!
[component_container-2] [10/05 22:18:11.076740][info][3013][DeviceManager.cpp:15] Current found device(s): (3)
[component_container-2] [10/05 22:18:11.076781][info][3013][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-2] [10/05 22:18:11.076803][info][3013][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-2] [10/05 22:18:11.076823][info][3013][DeviceManager.cpp:24]   - Name: SV1301S_U3, PID: 0x0614, SN/ID: , Connection: USB2.0
[component_container-2] [10/05 22:18:11.076841][debug][3013][DeviceManager.cpp:57] DeviceManager construct done!
[component_container-3] [INFO] [1696562291.076634746] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [INFO] [1696562291.076780629] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [INFO] [1696562291.086743489] [camera_02.camera_02]: device list count 3
[component_container-3] [INFO] [1696562291.086906227] [camera_02.camera_02]: Connecting to device with usb port: 1-4.2
[component_container-3] [INFO] [1696562291.086938154] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-3] [INFO] [1696562291.086964209] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562291.078364051] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562291.078501042] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562291.081783786] [camera_01.camera_01]: device list count 3
[component_container-1] [INFO] [1696562291.081919368] [camera_01.camera_01]: Connecting to device with usb port: 1-6.2
[component_container-2] [INFO] [1696562291.079575217] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-2] [INFO] [1696562291.079660582] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-2] [INFO] [1696562291.087527359] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-2] [INFO] [1696562291.087572510] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-2] [INFO] [1696562291.097655545] [camera_02.camera_02]: device list count 3
[component_container-2] [INFO] [1696562291.097735412] [camera_02.camera_02]: Connecting to device with usb port: 1-4.2
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera_03/camera_03' in container '/camera_container'
[component_container-1] [INFO] [1696562291.110920658] [camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1696562291.110969287] [camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [ERROR] [1696562291.222864815] [camera_01.camera_01]: Failed to setup devices: Property is not supported! propertyId: 2025
[component_container-1] [INFO] [1696562291.224739952] [camera_01.camera_01]:  stream depth is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y11
[component_container-1] [INFO] [1696562291.225227758] [camera_01.camera_01]:  stream ir is enabled - width: 640, height: 400, fps: 30, Format: OB_FORMAT_Y10
[component_container-1] [INFO] [1696562291.226431902] [camera_01.camera_01]:  stream color is enabled - width: 640, height: 480, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1696562291.255175629] [camera_01.camera_01]: Enable depth stream
[component_container-1] [INFO] [1696562291.255229383] [camera_01.camera_01]: Stream depth width: 640 height: 400 fps: 30 format: Y11
[component_container-1] [INFO] [1696562291.255251150] [camera_01.camera_01]: Enable ir stream
[component_container-1] [INFO] [1696562291.255266090] [camera_01.camera_01]: Stream ir width: 640 height: 400 fps: 30 format: Y10
[component_container-1] [INFO] [1696562291.255279634] [camera_01.camera_01]: Enable color stream
[component_container-1] [INFO] [1696562291.255296995] [camera_01.camera_01]: Stream color width: 640 height: 480 fps: 30 format: MJPG
[component_container-1] [INFO] [1696562291.385041374] [camera_01.camera_01]: transform x -9.95624 y -0.00198533 z 0
[component_container-1] [WARN] [1696562291.385201057] [camera_01.camera_01]: Publishing dynamic camera transforms (/tf) at 10 Hz
[component_container-1] [INFO] [1696562291.731588814] [camera_01.camera_01]: Device SV1301S_U3 connected
[component_container-1] [INFO] [1696562291.731658639] [camera_01.camera_01]: Serial number: AY23C1100DM
[component_container-1] [INFO] [1696562291.731676593] [camera_01.camera_01]: Firmware version: RD3013
[component_container-1] [INFO] [1696562291.731692552] [camera_01.camera_01]: Hardware version: 
[component_container-1] [INFO] [1696562291.731742475] [camera_01.camera_01]: device unique id: 1-6.2-17
[component_container-3] [INFO] [1696562296.107838057] [camera_03.camera_03]: device list count 3
[component_container-3] [INFO] [1696562296.107920801] [camera_03.camera_03]: Connecting to device with usb port: 1-3.2
[component_container-3] [ERROR] [1696562296.110355455] [camera_02.camera_02]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-1] [INFO] [1696562296.147022637] [camera_03.camera_03]: device list count 3
[component_container-1] [INFO] [1696562296.147106937] [camera_03.camera_03]: Connecting to device with usb port: 1-3.2
[component_container-1] [ERROR] [1696562296.151673383] [camera_02.camera_02]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-2] [INFO] [1696562301.104349055] [camera_03.camera_03]: device list count 3
[component_container-2] [INFO] [1696562301.104533178] [camera_03.camera_03]: Connecting to device with usb port: 1-3.2
[component_container-2] [ERROR] [1696562301.105770314] [camera_02.camera_02]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-3] [INFO] [1696562301.150341278] [camera_02.camera_02]: device list count 3
[component_container-3] [ERROR] [1696562301.151698311] [camera_03.camera_03]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-2] [ERROR] [1696562306.109780046] [camera_03.camera_03]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-3] [INFO] [1696562306.109848351] [camera_03.camera_03]: device list count 3
[component_container-3] [INFO] [1696562306.110001108] [camera_01.camera_01]: Connecting to device with usb port: 1-6.2
[component_container-1] [ERROR] [1696562306.356033578] [camera_03.camera_03]: startDevice failed: No required type sensor found! sensorType: OB_SENSOR_IR
[component_container-1] [INFO] [1696562306.356132167] [camera_03.camera_03]: device list count 3
[component_container-2] [INFO] [1696562306.357068250] [camera_02.camera_02]: device list count 3
[component_container-1] [INFO] [1696562307.356133659] [camera_02.camera_02]: device list count 3
[component_container-1] [INFO] [1696562308.356138778] [camera_02.camera_02]: device list count 3
[component_container-1] [INFO] [1696562309.356140118] [camera_03.camera_03]: device list count 3
[component_container-1] [INFO] [1696562310.356140213] [camera_02.camera_02]: device list count 3
[component_container-2] [INFO] [1696562311.211697499] [camera_02.camera_02]: device list count 3

And usually, after doing Ctrl + C the cameras aren't recognized any more as here

Thank you