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Multiple CameraInfoManagers in same node?

asked 2014-12-12 12:14:24 -0500

lucasw gravatar image

It seems like this ought to be possible ( https://github.com/ros-industrial/hum... shows an example though there is a lot going on)- but when I try to do it the set_camera_info topics are colliding:

 Tried to advertise a service that is already advertised in this node [/set_camera_info]

Should the name parameter passed into CameraInfoManager(nh, "foo") be putting the /set_camera_info into /foo/set_camera_info ?

This is Indigo with Ubuntu 14.04.

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answered 2014-12-12 14:01:32 -0500

Wolf gravatar image

If you have two cameras in your driver both cameras should publish to separate topics, e. g.

/stereo_camera/left/image_raw
/stereo_camera/left/camera_info
/stereo_camera/right/image_raw
/stereo_camera/right/camera_info

Now you can have 2 camera info managers in the same driver node for both cameras; but the 2 camera info managers should be remapped to separate topic, identical with the camera namepaces

E. g. first camera info manager for left camera

/stereo_camera/left/set_camera_info

second camera info manager for right camera

/stereo_camera/right/set_camera_info
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Hey, might I ask you to provide more information about the implementation of your answer here?

sihe gravatar imagesihe ( 2017-05-30 07:57:28 -0500 )edit
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answered 2014-12-12 15:05:45 -0500

joq gravatar image

The NodeHandle used to construct each CameraInfoManager instance needs to specify the correct subordinate namespace for that device.

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Hey, might I ask you to provide more information about the implementation of your answer here?

sihe gravatar imagesihe ( 2017-05-30 07:57:38 -0500 )edit

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Asked: 2014-12-12 12:14:24 -0500

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Last updated: Dec 12 '14