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Hi, to me it seems at the first sight that the names of your joints are wrong, should it not be openni_depth_frame_joint and openni_rgb_frame_joint (note missing _frame)? Then if that does not solve it you have to see how your openni_link is placed in the kinematic chain - it might be that it is upside down too. Lastly, I just noticed yesterday that the TF tree of the tracked body is still mirrored around y axis. Following fix solved that for me: - double y = joint_position.position.Y / 1000.0; + double y = -joint_position.position.Y / 1000.0;

D.