test_2kinect.launch

<launch>
  <arg name="debug" default="false"/>
  <arg if="$(arg debug)" name="launch_prefix" value="xterm -rv -e gdb -ex run -args"/>
  <arg unless="$(arg debug)" name="launch_prefix" value=""/>
  <node pkg="openni_camera" type="openni_node" name="openni_node1" output="screen" launch-prefix="$(arg launch_prefix)">
    <remap from="camera" to="camera1" />
    <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
    <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
    <param name="rgb_frame_id" value="/openni_rgb_optical_frame1" />
    <param name="depth_frame_id" value="/openni_depth_optical_frame1" />
    <param name="use_indices" value="false" />
    <param name="depth_registration" value="true" />
    <param name="image_mode" value="2" />
    <param name="depth_mode" value="2" />
    <param name="debayering" value="2" />
    <param name="depth_time_offset" value="0" />
    <param name="image_time_offset" value="0" />
  </node>
  <include file="$(find openni_camera)/launch/test_frames1.launch"/>
  <node pkg="openni_camera" type="openni_node" name="openni_node2" output="screen" launch-prefix="$(arg launch_prefix)">
    <remap from="camera" to="camera2" />
    <param name="device_id" value="#2"/> <!-- this line uses second enumerated device -->
    <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
    <param name="rgb_frame_id" value="/openni_rgb_optical_frame2" />
    <param name="depth_frame_id" value="/openni_depth_optical_frame2" />
    <param name="use_indices" value="false" />
    <param name="depth_registration" value="true" />
    <param name="image_mode" value="2" />
    <param name="depth_mode" value="2" />
    <param name="debayering" value="2" />
    <param name="depth_time_offset" value="0" />
    <param name="image_time_offset" value="0" />
  </node>
  <include file="$(find openni_camera)/launch/test_frames2.launch"/>
</launch>