Do you have camera_drivers installed? Use
sudo apt-get install ros-diamondback-camera-drivers
Since you are looking for libdc1394v2 I'm not sure it will work, but it definitely works for Point Grey Firewire cameras (Flea2) I have tried.
To use, calibrate your cameras using the stereo version command. That will save the calibration files to /tmp, but you can copy/move them into your node. In your launch file start up two camera1394 nodes:
<!-- The left camera node. -->
<node
pkg="camera1394" type="camera1394_node" name="camera_left">
<rosparam file="$(find your_node)/left_bumblebee.yaml"/>
<remap from="camera" to="left"/>
</node>
<!-- The right camera node. -->
<node
pkg="camera1394" type="camera1394_node" name="camera_right">
<rosparam file="$(find your_node)/right_bumblebee.yaml"/>
<remap from="camera" to="right"/>
</node>
The left_bumblebee.yaml file will contain something like the following, where you set parameters for the camera1394 node:
# ID of your camera. Use coriander to help identify.
guid: 0000000000000000
# Mode describes the size and number of channels for the images.
#video_mode: 640x480_mono8
video_mode: 320x240_yuv422
# The frame_id MUST be part of your URDF to display correctly in RViz.
frame_id: left_camera
# The location of the ROS calibration file.
camera_info_url: file:///absolute_path_to_your_node/calibration_file.yaml
# Frames per second.
frame_rate: 30
# Try to reset the camera when opening.
reset_on_open: true
These two nodes will then publish on /left/image_raw, /left/image_rect, /right/image_raw, and /right/image_rect. You can see all of the topics they publish on using rxtopic list. Many ROS stereo nodes require exact matches for the timestamps on the image and camera_info topics. You might get that with the bumblebee camera automatically. If not, you can try to run your images through something like sync_images.
Last thing: it would benefit you quite a bit to move at least to Diamondback, if not Electric. I don't think that C-turtle is going to be supported much longer, and there have been changes made recently that break some backwards compatibility. In any case, more people will be able to help you with Diamondback and Electric if you run into trouble.
