ROS Publish Stereo Image From 2 USB Cameras

Question

I have to monocular USB cameras and I want to use ROS to make it a stereo camera. I am having a hard time finding a ROS package that publishes there 2 images in this format:

/my_stereo/left/camera_info
/my_stereo/left/image_raw
/my_stereo/right/camera_info
/my_stereo/right/image_raw
/my_stereo_both/parameter_descriptions
/my_stereo_both/parameter_updates
/my_stereo_l/parameter_descriptions
/my_stereo_l/parameter_updates
/my_stereo_r/parameter_descriptions

How can I do this? Any help is truly appreciated!

Answer 1

You can use:

http://wiki.ros.org/stereo_image_proc

You can change the publish topic name according to the documentation.

Answer 2

This tutorial provides an example, how exactly to publish the images.

I'm struggling with the disparity topic and posted a question here.

According to the already mentioned tutorial from 2016, the stereo_image_proc node was supposed to do a lot of job, but it looks like that it doesn't exist in ROS2 version. There are two nodes: disparity_node and point_cloud_node.