# How to avoid collision among two sensor drivers or more than?

Hello, I'm using ROS kinetic on Ubuntu 16.04.

I'd like to implement AMCL with turtlebot2 and there are no problems with following tutorials wrt the theme. To give a brief explanation, the AMCL is a kind of localization with sensor data.

But because I'm trying to do AMCL with other detection packages (using sensor data), I've suffered from a collision between the same sensor driver. In other words, in the case of when I launch openni2_launch for the AMCL package, the next openni2_launch should be launched to detect something. And here is the right place where the collision takes place.

At first, I simply thought if I comment out those kinds of codes in detection packages or AMCL packages, this trouble would be resolved. Unfortunately, I realized right away the AMCL and the detection packages need sensor data, so JUST ignore corresponding codes should not be a solution.

So I'm planning to modify the codes to get sensor data in AMCL and the right SAME data in the detection package after doing above. (In detail, I'll launch AMCL first, and detection packages next. )

In short, I'd like to know whether I could make two different nodes(or packages) subscribe to the rightly same topic.

If it is possible, are there any other operations I must do to make it?