Drivers for stereo camera

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Hey thanks for getting back to me! I have implemented exactly what was suggested but I'm hitting a bit of a roadblock with the camera info. I used the opencv based camera driver found here ( http://wiki.ros.org/video_stream_opencv ) as my starting point. As you may know it publishes not only the image from the camera but also the camera information associated with a calibration. It seems that when you use more than one "camera_info_manager::CameraInfoManager" in the same place you get the following error message.

[ERROR] [1518120816.976389693]: Tried to advertise a service that is already advertised in this node [/camera/set_camera_info]

Does anyone have an idea how to get around this? You'll find my code and launch file below. I'm somewhat of a ROS newbie so if you happen to have more than one idea I'd love to hear the simplest one!

Also for reference here is the camera driver I found that does not work. http://wiki.ros.org/elp_stereo_camera

cpp file

#include <ros ros.h=""> #include <image_transport image_transport.h=""> #include <camera_info_manager camera_info_manager.h=""> #include <opencv2 highgui="" highgui.hpp=""> #include <opencv2 imgproc="" imgproc.hpp=""> #include <cv_bridge cv_bridge.h=""> #include <sstream> #include <boost assign="" list_of.hpp="">

// Based on the ros tutorial on transforming opencv images to Image messages

sensor_msgs::CameraInfo get_default_camera_info_from_image(sensor_msgs::ImagePtr img){ sensor_msgs::CameraInfo cam_info_msg; cam_info_msg.header.frame_id = img->header.frame_id; // Fill image size cam_info_msg.height = img->height; cam_info_msg.width = img->width; ROS_INFO_STREAM("The image width is: " << img->width); ROS_INFO_STREAM("The image height is: " << img->height); // Add the most common distortion model as sensor_msgs/CameraInfo says cam_info_msg.distortion_model = "plumb_bob"; // Don't let distorsion matrix be empty cam_info_msg.D.resize(5, 0.0); // Give a reasonable default intrinsic camera matrix cam_info_msg.K = boost::assign::list_of(1.0) (0.0) (img->width/2.0) (0.0) (1.0) (img->height/2.0) (0.0) (0.0) (1.0); // Give a reasonable default rectification matrix cam_info_msg.R = boost::assign::list_of (1.0) (0.0) (0.0) (0.0) (1.0) (0.0) (0.0) (0.0) (1.0); // Give a reasonable default projection matrix cam_info_msg.P = boost::assign::list_of (1.0) (0.0) (img->width/2.0) (0.0) (0.0) (1.0) (img->height/2.0) (0.0) (0.0) (0.0) (1.0) (0.0); return cam_info_msg; }

int main(int argc, char** argv) { ros::init(argc, argv, "image_publisher"); ros::NodeHandle nh; ros::NodeHandle _nh("~"); // to get the private params image_transport::ImageTransport it(nh); image_transport::CameraPublisher pub_left = it.advertiseCamera("left", 1); image_transport::CameraPublisher pub_right = it.advertiseCamera("right", 1);

// provider can be an url (e.g.: rtsp://10.0.0.1:554) or a number of

device, (e.g.: 0 would be /dev/video0) std::string video_stream_provider; cv::VideoCapture cap; if (_nh.getParam("video_stream_provider", video_stream_provider)){ ROS_INFO_STREAM("Resource video_stream_provider: " << video_stream_provider); // If we are given a string of 4 chars or less (I don't think we'll have more than 100 video devices connected) // treat is as a number and act accordingly so we open ...