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Hi Steven,

Did you ensure to specify the checker_rows and checker_cols parameters in your top-level launchfile? Note that the checkerboard that ships with the PR2 has 7x6 corners (not 8x7).

What resolution are you running the cameras at? If your images are significantly greater than 640x480, then the checkerboard detectors are going to start to choke pretty badly. You can see how fast each checkerboard detector is running with:

> rostopic hz [camera_ns]/features

In our setup, we're using binning to downsample the images, and hacked camera_info to make the images look like binning was off. It might make sense for us to make the binning functionality fully supported by our tools.