I just edited out the stereo_nodelet.launch that comes with the bumblebee2 package and then added a couple of nodes:

<launch> <arg name="camera" default="stereo_camera"/> <arg name="base_topic" default="$(arg camera)"/> <arg name="manager" default="stereo_camera_nodelet_manager"/> <arg name="nodelet" default="true"/>

<node unless="$(arg nodelet)" pkg="camera1394stereo" type="camera1394stereo_node" name="$(arg base_topic)_node" output="screen" &gt;="" <param="" name="frame_id" value="$(arg base_topic)_optical"/> <remap from="stereo_camera" to="$(arg base_topic)"/> <rosparam subst_value="true"> video_mode: format7_mode3 format7_color_coding: raw16 bayer_pattern: bggr bayer_method: '' stereo_method: Interlaced auto_white_balance: 2 # auto white_balance_BU: 0.0 white_balance_RV: 0.0 </rosparam> </node>

<group if="$(arg nodelet)"> <node pkg="nodelet" type="nodelet" name="stereo_camera_nodelet_manager" args="manager" output="screen"/>

<node pkg="nodelet" type="nodelet" name="$(arg base_topic)_node" output="screen"
    args="load camera1394stereo/driver $(arg manager)">
  <param name="frame_id" value="$(arg base_topic)_optical" />
  <param name="camera_info_url_left" value="package://lcsr_camera_models/cameras/bumblebee/calibration/bb2_03s2c_xxxxxx03_left.ini" />
  <param name="camera_info_url_right" value="package://lcsr_camera_models/cameras/bumblebee/calibration/bb2_03s2c_xxxxxx03_right.ini" />
  <remap from="stereo_camera" to="$(arg base_topic)" />
  <rosparam subst_value="true">
    video_mode: format7_mode3
    format7_color_coding: raw16
    bayer_pattern: bggr
    #bayer_method: Bilinear
    bayer_method: ''
    stereo_method: Interlaced
    auto_white_balance: 2 # auto
    white_balance_BU: 0.0
    white_balance_RV: 0.0
  </rosparam>
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_debayer_left"
      args="load image_proc/debayer $(arg manager)">
  <remap from="image_raw" to="$(arg base_topic)/left/image_raw" />
  <remap from="image_mono" to="$(arg base_topic)/left/image_mono" />
  <remap from="image_color" to="$(arg base_topic)/left/image_color" />
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_debayer_right"
      args="load image_proc/debayer $(arg manager)">
  <remap from="image_raw" to="$(arg base_topic)/right/image_raw" />
  <remap from="image_mono" to="$(arg base_topic)/right/image_mono" />
  <remap from="image_color" to="$(arg base_topic)/right/image_color" />
</node>

<node pkg="nodelet" type="nodelet" name="image_proc_rect_color_left"
      args="load image_proc/rectify $(arg manager)">
  <remap from="image_mono" to="$(arg base_topic)/left/image_color" />
  <remap from="image_rect" to="$(arg base_topic)/left/image_rect_color" />
</node>

  <node pkg="nodelet" type="nodelet" name="image_proc_rect_color_right"
      args="load image_proc/rectify $(arg manager)">
  <remap from="image_mono" to="$(arg base_topic)/right/image_color" />
  <remap from="image_rect" to="$(arg base_topic)/right/image_rect_color" />
</node>

</group> </launch>

And here is the output from launching:

roslaunch husky_ro husky_world.launch ... logging to /home/rojlog/.ros/log/25a7991e-d230-11ea-b8d2-d46d6d972a20/roslaunch-rojlog-gl703vd-30693.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "husky_Pb" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. inconsistent namespace redefinitions for xmlns:xacro: old: http://ros.org/wiki/xacro new: http://www.ros.org/wiki/xacro (/opt/ros/kinetic/share/lms1xx/urdf/sick_lms1xx.urdf.xacro) started roslaunch server http://192.168.1.74:40551/

SUMMARY

PARAMETERS * /ekf_localization/base_link_frame: base_link * /ekf_localization/frequency: 50 * /ekf_localization/imu0: imu/data * /ekf_localization/imu0_config: [False, False, Fa... * /ekf_localization/imu0_differential: True * /ekf_localization/imu0_queue_size: 10 * /ekf_localization/imu0_remove_gravitational_acceleration: True * /ekf_localization/odom0: husky_velocity_co... * /ekf_localization ... (more)