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Hi saptarshi,

first, you have to run stereo_image_proc and then calibrate the cameras with a chekerboard, as explained here. Once the calibration has been saved (or commited), then the disparity image should be available from the topic in stereo_image_proc.

I have a similar setup (two color GigE AVT Manta sync'd), and decided to implement a new driver using the new AVT API VIMBA. The ros node is available here. I'd be very grateful if you could give it a try.