We are looking to obtain two laser scans off two Primesense cameras.

We know that there is sufficient bandwidth: NiViewer is capable of displaying all feeds from the cameras (i.e. both RGB and both depth images). We only need to obtain a laser scan from each, so do not even need RGB.

We have set up a modified version of 3dsensor.launch to try to achieve this, renaming the two cameras apart as camera1 and camera2. We have set up a .yaml config file for each sensor with a device_id specified by USB bus and address. However only the last camera to be loaded (i.e. camera2) publishes any data on its laser scan output (i.e. scan2).

See pastebin for the code at SV0QQJfs

Thanks.