[WIP]Baxter three realsense camera#1945
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…efault. [wip]sometimes multiple rs cameras can't be launched, because they are using same usb hub.
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There are following three realsense camera on baxter.
realsense_head: d435
realsense_torso: l515
realsense_base: d435
You can launch with three realsense simultaneously following command.
roslaunch jsk_baxter_startup baxter_default.launch launch_realsense_head:= true launch_realsense_torso:=true launch_realsense_base:=trueKnown Limitation / Hardware Constraint:
When all three RealSense cameras are launched simultaneously, there are cases where not all devices start successfully. This is not a software issue, but is most likely caused by USB bandwidth and hub limitations on the Baxter-C4 platform: Multiple RealSense cameras are connected through the same internal USB hub Baxter-C4 does not provide enough independent USB hubs to place each RealSense camera on a separate bus As a result, device enumeration or streaming may fail intermittently when all three are launched at once
Also, the cameras are not set perfect external parameters.
In practice:
Two RealSense cameras can be launched reliably in most cases
Three cameras may fail to start depending on USB resource allocation
TODO: