Turtlebot Dual Camera [closed]
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
From
<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg camera)/$(arg camera)_nodelet_manager">
To
<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