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like dornhege said, it work for me to name remap the driver, the topics from each cam: 1. <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" &gt;="" ...="" <node="" name="usb_cam2" pkg="usb_cam" type="usb_cam_node" output="screen" &gt;="" ...="" 2.="" <arg="" name="cam_image_topic" default="/usb_cam/image_raw"/> <arg name="cam_info_topic" default="/usb_cam/camera_info"/>
<arg name="output_frame" default="/usb_cam"/> <arg name="cam_image_topic2" default="/usb_cam2/image_raw"/> <arg name="cam_info_topic2" default="/usb_cam2/camera_info"/>
<arg name="output_frame2" default="/usb_cam2"/>

<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />

<node name="ar_track_alvar2" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="true" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic2) $(arg cam_info_topic2) $(arg output_frame2)"/> ... But if the cameras detect the same Tag, the pose estamation jump from one camera to the other. Is it possible to get the old packge ar_pose_ekf somewhere? Or have someone a good idea to merge the estimations without long coding?

like dornhege said, it work for me to name remap the driver, the topics from each cam: 1. <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" &gt;="" ...="" <node="" name="usb_cam2" pkg="usb_cam" type="usb_cam_node" output="screen" &gt;="" ...="" 2.="" <arg="" name="cam_image_topic" default="/usb_cam/image_raw"/> <arg name="cam_info_topic" default="/usb_cam/camera_info"/>
<arg name="output_frame" default="/usb_cam"/> <arg name="cam_image_topic2" default="/usb_cam2/image_raw"/> <arg name="cam_info_topic2" default="/usb_cam2/camera_info"/>
<arg name="output_frame2" default="/usb_cam2"/>

<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic) $(arg cam_info_topic) $(arg output_frame)" />

<node name="ar_track_alvar2" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="true" output="screen" args="$(arg marker_size) $(arg max_new_marker_error) $(arg max_track_error) $(arg cam_image_topic2) $(arg cam_info_topic2) $(arg output_frame2)"/> ... But if the cameras detect the same Tag, the pose estamation jump from one camera to the other. Is it possible to get the old packge ar_pose_ekf somewhere? Or have someone a good idea to merge the estimations without long coding?

like dornhege said, it work for me to name remap the driver, the topics from each cam:

But if the cameras detect the same Tag, the pose estamation jump from one camera to the other. Is it possible to get the old packge ar_pose_ekf somewhere? Or have someone a good idea to merge the estimations without long coding?