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ISIR Custom tracker:

Kinect pack that tracks humain body movements and publish transforms on /tf topic: /tf/head /tf/neck /tf/torso /tf/right_shoulder /tf/right_elbow /tf/right_hand /tf/left_shoulder /tf/left_elbow /tf/left_hand /tf/right_hip /tf/right_knee /tf/right_ankle /tf/left_hip /tf/left_knee /tf/left_ankle

Requirements:

  • https://github.com/ros-drivers/openni_camera/tree/groovy-devel
  • https://github.com/ros-drivers/openni_launch/tree/groovy-devel
  • https://github.com/OpenNI/OpenNI.git
  • https://github.com/avin2/SensorKinect.git or https://github.com/ph4m/SensorKinect/archive/unstable.zip
  • http://www.openni.org/openni-sdk/openni-sdk-history-2/

Install:

copy the pack on your ros workspace
delete build/CMakeCache.txt if needed
build the pack:
	rosmake tracker

Examples:

to run the pack :
	roslaunch openni_launch openni.launch
	rosrun tracker tracker

to visualize the transforms on rviz:
	rqt
	change in :
		Global Frame >> Fixed Frame >> /camera_depth_optical_frame
		Add >> TF

to check the /tf topic
	rostopic echo /tf