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Thanks for the help michikarg. My problem was that openni_tracker required the param "camera_frame_id" identifying the transform from world coordinates to the kinect. I used the following launch file to set "camera_frame_id" to /camera_link which is published by openni_launch.

<launch> <node pkg="openni_tracker" type="openni_tracker" name="openni_tracker" output="screen"> </node> </launch>

Now, sequentially running roslaunch openni_launch openni.launch roslaunch my_pkg the_above_launch_file successfully results in all of the transforms being published!

Thanks for the help michikarg. My problem was that openni_tracker required the param "camera_frame_id" identifying the transform from world coordinates to the kinect. I used the following launch file to set "camera_frame_id" to /camera_link which is published by openni_launch.

<launch> <launch>

<node pkg="openni_tracker" type="openni_tracker" name="openni_tracker" output="screen"> output="screen">

<param name="camera_frame_id" value="/camera_link" />

<param name="tf_prefix" value="tracker" />

Thanks for the help michikarg. My problem was that openni_tracker required the param "camera_frame_id" identifying the transform from world coordinates to the kinect. I used the following launch file to set "camera_frame_id" to /camera_link which is published by openni_launch.

<launch>

<node pkg="openni_tracker" type="openni_tracker" name="openni_tracker" output="screen">

<param name="camera_frame_id" value="/camera_link" />

<param name="tf_prefix" value="tracker" />

</node>

</launch>

Now, sequentially running roslaunch openni_launch openni.launch roslaunch my_pkg the_above_launch_file successfully results in all of the transforms being published!

Thanks for the help michikarg. My problem was that openni_tracker required the param "camera_frame_id" identifying the transform from world coordinates to the kinect. I used the following launch file file to set "camera_frame_id" to /camera_link which is published by openni_launch.

<launch>

<node pkg="openni_tracker" type="openni_tracker" name="openni_tracker" output="screen">

<param name="camera_frame_id" value="/camera_link" />

<param name="tf_prefix" value="tracker" />

</node>

</launch>

Now, sequentially running roslaunch openni_launch openni.launch roslaunch my_pkg the_above_launch_file successfully results in all of the transforms being published!