Openni_tracker no skeleton data published in /tf
Hello everybody,
I want to visualize the skeleton transforms in rviz. After starting openni.launch, openni_tracker and doing the psi-pose, i expect the different body-part frames in the tf-topic....but the only frame i receive is called /user, which tracks my position. Am I doing something wrong with the calibration or why are these body-part-frames missing? Or maybe is there something wrong with my tf-Configuration?
Here are the informations i get after "rostopic echo /tf":
transforms:
header:
seq: 0
stamp:
secs: 1346418001
nsecs: 185126405
frame_id: /openni_camera
child_frame_id: /openni_rgb_frame
transform:
translation:
x: 0.0
y: -0.04
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
transforms:
header:
seq: 0
stamp:
secs: 1346418001
nsecs: 63344952
frame_id: /camera_depth_optical_frame
child_frame_id: /user
transform:
translation:
x: -0.260202636719
y: 0.157726348877
z: 0.974624938965
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
transforms:
header:
seq: 0
stamp:
secs: 1346418001
nsecs: 285380278
frame_id: /openni_camera
child_frame_id: /openni_rgb_frame
transform:
translation:
x: 0.0
y: -0.04
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
transforms:
header:
seq: 0
stamp:
secs: 1346418001
nsecs: 247788965
frame_id: /openni_camera
child_frame_id: /openni_depth_frame
transform:
translation:
x: 0.0
y: -0.02
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
I use ROS electric and Ubuntu 11.10 Oneric.
Best Regards Flezzo
There is just the /user transform and some irrelevant transforms (i think they are not relevant for my problem) posted on the /tf topic.There appear no head-transform for example, after echoing the /tf topic.After using roslaunch turtlebot_bringup kinect.launch, only the /user transform is published
I solved my problem by using the pi_tracker instead of the openni_tracker....