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What you can do is you can modify the openni_tracker.cpp. I have modified it as follows

string frame_id("openni_depth_frame"); pnh.getParam("camera_frame_id", frame_id);

to

string frame_id("openni_rgb_optical_frame"); pnh.getParam("camera_frame_id", frame_id);

so that you can run camera node and openni tracker together. Hope it helps.

What you can do is you can modify the openni_tracker.cpp. I have modified it as follows

string frame_id("openni_depth_frame"); frame_id("openni_depth_frame");

pnh.getParam("camera_frame_id", frame_id);

to

string frame_id("openni_rgb_optical_frame"); frame_id("openni_rgb_optical_frame");

pnh.getParam("camera_frame_id", frame_id);

so that you can run camera node and openni tracker together. Hope it helps.