How to use two Kinects in the same script? (To combine point clouds from two Kinects into one cloud)

[djivani]

Hi, I am able to run two Kinects simultaneously using multiple instances of kinect2_bridge and kinect2_viewer using the the sensor argument. Both point clouds display fine and at good frame rate. Now, I would like to get point cloud data from both in the same script so I can combine the two points clouds into one and process it as a single cloud. My approach was to try and initialize two Receivers in viewer.cpp and open each device in it's own separate thread. Is this the right way to do this?

[tungalbert99]

Just curious, does it publish to different ROS topics once you change the sensor argument?