Static transformations missing when running the multiple camera example

[tulku]

System Configuration

Version	Your Configuration
Operating System	Ubuntu 16.04.1 LTS
Kernel	4.4.0-45-generic #66-Ubuntu SMP
Backend	v4l
ROS	kinetic
ROS RealSense	1.5.0
librealsense	1.11.0
Camera Type-Firmware	r200-1.0.72.06

Expected Behavior

The static transformations for both cameras should be found in the tf tree.

Actual Behavior

When running the r200_nodelet_multiple_cameras.launch only one of the cameras is able to publish it's static transforms. This probably happens because the nodelet manager will have to latched publishers to tf_static, one per camera, and that does not work correctly, as explained here:

http://wiki.ros.org/tf2/Migration#Addition_of_.2BAC8-tf_static_topic

Steps to Reproduce

Start the r200_nodelet_multiple_cameras.launch and check the tf tree. This can be done doing:

$ rosrun tf tf_echo camera2_link camera2_depth_optical_frame
$ rosrun tf tf_echo camera1_link camera1_depth_optical_frame

You will see the camera2 frames being correctly resolved but the camera1 frame missing.

[tulku]

This is related (or even a duplicate of) #120

[reaganlo]

@tulku As you figured out, since this is a duplicate of #120, I am closing this one. Please look out for updates on the other thread.