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microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
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Workaround to use kinect_rgbd.launch with multiple cameras #265

Open TheodoroCardoso opened 1 year ago

TheodoroCardoso commented 1 year ago

Is your feature request related to a problem? Please describe. There is a multi-camera solution that works for the driver.launch file, described here in #97 However, I couldn't make anything similar work for kinect_rgbd.launch

Describe the solution you'd like While #126 isn't released, it would be helpful to use manual intrinsic calibration #200 for multiple cameras simultaneously

Describe alternatives you've considered I tried modifying the kinect_rgbd.launch in the following ways, without success:

  1. Duplicating the group tag and setting different namespaces
  2. Duplicating just the nodelet, renaming it and hardcoding the sensor_sn (the problem here might be related to #264).
  3. Delaying the second nodelet with launch-prefix="bash -c 'sleep 1.0; $0 $@' "
  4. Hardcoding the master-subordinate parameter and plugging in the sync cable accordingly.

Another possibility in our use case is to switch from the first camera to the second camera in less than 2 seconds. Launching a new nodelet takes 5s to get the first image + 5s to get the correct exposure, which is unfortunately too slow for the application at hand. Is there any way to do it faster?

Any input is appreciated! Thanks