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I remapped all the topics. Now when I launch both the camera nodes, if I visualize everything on rviz, I obtain a frame transformation time error (for both camera) from /camera_rgb_optical_frame to every other fixed frame I use and sometimes maybe due to the same issue I can visualize just 1 kinect data stream (apparently randomly).

I have to mention that pointcloud_to_laserscan (used for the navigation kinect) has this launch file:

<launch>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
    <param name="max_rate" value="20"/>
    <remap from="cloud_in" to="/camera/depth/points2"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
    <param name="output_frame_id" value="/base_laser"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

If a use one kinect at times everything works fine. Is it possible to use more than one kinect?

Thank you for the help