Turtlebot Dual Camera [closed]

asked 2021-08-10 08:54:07 -0500

jacklu333333 gravatar image

Hi, I am using turtlebot2 with two cameras. One is atra, the other is one is kinetic.
To make enable both cameras at bootup, I add the following
<env name="TURTLEBOT_3D_SENSOR" value="astra" /> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"> <arg name="camera" default="camera2"/> <arg name="depth_registration" value="true"/> <arg name="scan_processing" value="false"/> </include>

<env name="TURTLEBOT_3D_SENSOR" value="kinetic" /> <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"> <arg name="camera" default="camera1"/> <arg name="depth_registration" value="true"/> </include>

and modify the turtlebot 3dsensor.launch file

<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg camera)/$(arg camera)_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan_$(arg camera)" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg camera)/$(arg camera)_nodelet_manager">

Since the Kinetic camera uses openni_launch package and the Astra camera uses astra_launch package, I would expect there no confliction between the two cameras.

But whichever I put in the bottom will not be able to be activated. Only the top one will be able to be activated. I couldn't figure out why. If possible, can someone please help me?

Best Regards, Jack Lu

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Closed for the following reason question is not relevant or outdated by jacklu333333
close date 2021-09-24 05:30:41.930950