search

orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
68 stars 28 forks source link

Astra Pro Plus doesn't work when other cameras are connected #190

Closed spok7 closed 1 year ago

spok7 commented 1 year ago

I'm working with an Astra Pro Plus and several Intel RealSense cameras, and I kept getting the Can't open /dev/bus/usb/ error. The issue was because uvc_camera_driver.cpp was trying to open one of the RealSense cameras, even when I specified the serial_number, the uvc_vendor_id, and the uvc_product_id in a roslaunch file.

This is because the two ID arguments were being ignored. UVCCameraDriver in src/uvc_camera_driver.cpp was trying to read them as ints, which failed since ROS1's yaml parser reads hexadecimal numbers as strings. This is why lines 104 and 105 of src/uvc_camera_driver.cpp need to be changed to:

  config_.vendor_id = std::stoi(nh_private_.param<std::string>("uvc_vendor_id", "0x0"), 0, 16);
  config_.product_id = std::stoi(nh_private_.param<std::string>("uvc_product_id", "0x0"), 0, 16);
jian-dong commented 1 year ago

Thank you for raising this issue. Fixed.

BrendanWooAdmetal commented 5 months ago

Newer versions of the code in uvc_camera_driver have re-created this issue by removing the effects of this commit. It must be re-implemented in the newest code.