Multiple camera publisher in the same node - camera_info seqs
Is it possible to have multiple camera publisher in the same node? I'm controlling 3 cameras using the same node instance. Publications of the image works fine, however there are some problems with the camera_info topic.
Currently the camera related topic are these:
/stereo/left/camera_info
/stereo/left/image_raw
/stereo/right/camera_info
/stereo/right/image_raw
The problem is that it seems that the camera_info topics of each camera are published two times. The sequence number of camera_info is always the double of the sequence number of image_raw. If i disable one of the two camera pubblication the other runs fine (the two seq number are equals). This is a problem since I can't run other nodes due to synchronization issues between the camera_info and the image_raw topic.
Could this be due to the use of a single node instance?
There shouldn't be problem at all in publishing two camera_info topics; I bet for an error in the code. Btw, do not tag with #
thanks, tag fixed.
There are plenty of multi-camera drivers using camera_info_manager and publishing on separate topics. As @jorge said, the problem is likely in the driver code. If you edit your question with snippets where it instantiates CameraInfoManager and where it publishes the data, maybe we can help.