Astra Stereo S U3 multi-camera: RGB is opened from the other physical camera via LibUVC while depth/IR bind to the selected OpenNI device

[SaegusaLaboratory-Students]

System Environment

• Hardware Info
  • CPU architecture: x86_64
  • CPU model: Intel(R) Core(TM) i7-10710U CPU @ 1.10GHz
  • Memory size: 31Gi
  • GPU model: Intel Corporation Comet Lake UHD Graphics (integrated GPU)
• Ubuntu Version: Ubuntu 22.04.5 LTS
• ROS Version: ROS 2 humble
• Camera Model: Astra Stereo S U3 x 2
• Firmware Version: RD3013
• Branch: main
• Commit: c780bc11

Description

I am using two Astra Stereo S U3 cameras simultaneously with OrbbecSDK_ROS2 on the main branch.

I launch two camera nodes with different USB ports:

• camera_01 -> ### ### 2-4.2

• camera_02 -> 2-2.2

Expected behavior

Each node should publish RGB, depth, and IR from the same physical camera.

Actual behavior

The depth/IR stream appears to come from the correctly selected OpenNI device, but the RGB stream is opened from the other physical camera through LibUVC. As a result, RGB and depth/IR come from different physical cameras.

Observed result from visual inspection

• camera_01 publishes RGB from one physical camera, but depth/IR from the other
• camera_02 publishes RGB from the other physical camera, but depth/IR from the first

Additional symptom

Depth frame corruption was also observed during dual-camera operation.

Additional version info observed in the debug log

• Wrapper version: 1.5.15
• SDK version: 1.10.35

Relevant log excerpt

[INFO] [launch]: All log files can be found below [LOG_DIR]

[component_container-1] [INFO] [[TS]] [camera_01.camera_container]: Load Library: /home/[USER]/ros2_orbbec_openni/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-2] [INFO] [[TS]] [camera_02.camera_container]: Load Library: /home/[USER]/ros2_orbbec_openni/install/orbbec_camera/lib/liborbbec_camera.so

[camera_01] Connecting to device with usb port: 2-4.2
[camera_01] Before lock: Select device usb port: 2-4.2
[camera_01] After lock: Select device usb port: 2-4.2
[OpenNI] Sensor serial number: <SN_A>
[OpenNI] OpenNI device created! PID: 0x0614, SN: <SN_A>
[camera_01] Uvc backend have been set to LibUVC(1)
[camera_01] UVC device have been create with LibUVC backend! dev: 1-2.1-6, inf: 1-2.1-6.0

[camera_02] Connecting to device with usb port: 2-2.2
[camera_02] Before lock: Select device usb port: 2-2.2
[camera_02] After lock: Select device usb port: 2-2.2
[OpenNI] Sensor serial number: <SN_B>
[OpenNI] OpenNI device created! PID: 0x0614, SN: <SN_B>
[camera_02] UVC device have been create with LibUVC backend! dev: 1-4.1-8, inf: 1-4.1-8.0

[camera_01] Depth: Expected 1, got 1051
[camera_01] Depth frame is corrupt!
[camera_02] Depth: Expected 1, got 1049
[camera_02] Depth frame is corrupt!

Notes

• The issue reproduces consistently in a clean source-built workspace on the main branch.
• I can provide full logs and additional diagnostic information if needed.
• The log excerpt above was trimmed for public posting, and some environment-specific details were masked to avoid disclosing local environment information.