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Filippo,

How are you bringing up the two cameras? If you simply launch the openni.launch file twice, things won't work because you will launch the same nodes with the same names twice. You have to pass a camera namespace argument to the launch file. For openni_camera_unstable, this would look like:

roslaunch openni_camera_unstable openni.launch camera:=kinect_1 roslaunch openni_camera_unstable openni.launch camera:=kinect_2

Or, if you want to create your own launch file:

<launch> <include file="$(find openni_camera_unstable)/launch/openni.launch"> <arg name="camera" value="kinect_1"/> </include>

<include file="$(find openni_camera_unstable)/launch/openni.launch">
   <arg name="camera" value="kinect_2" />
</include>

</launch>

Hope this helps.

Wim