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Starting openni.launch in the openni package should be responsible for creating the links between the kinect and your map/fixed frame (maybe you have to ajjust the tf-frames to your scenario). To track the human, you should additionally start the openni_tracker. It should output if a User is detected and instructions about the calibration step (to calibrate the tracker, the user has to do the Phi-pose). As soon as the calibration was successful, the skelleton joints are posted on tf... (Very often, calibration fails, in this case, don´t worry, just do the Phi-pose again..)