Im working on a person detection and ive just manage to make pclgroundbasedrgbdpeopledetector from pcl17 work. The thing is that now i need to get the distance of the person and send it to a code im working on to show a marker on rviz. I dont know how to accomplish this task. I understand and have created publishers and subscribers but im unable to make this work, because first i dont know where to put the publisher ( i think in personcluster.h?) and second i dont know how to test if it works because to compile takes to long to work with swing or miss. I would really appreciate some help.