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Hmm, that sounds odd to me. When I'm using the openni_tracker, I first launch the camera node (roslaunch openni_camera openni_node.launch) and then the openni_tracker. The first already includes static transform publishers for /openni_depth_frame, _depth_optical_frame etc. And as you wrote, the later publishes the skeleton frames with respect to openni_depth_frame. Hence, I see no problem, if you want to transform the skeleton frames into another frame of the Kinect. Did I miss something?

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