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You could also look at the source for openni_tracker.cpp for some hints on how to define unique tf frames for each user.

Also, when I first was getting started with ROS+Kinect, I wrote a package that borrowed heavily from pi_tracker and openni_tracker to provide exactly what you are looking for. Actually, I did exactly what @Pi_Robot suggested, and I publish arrays of skeleton messages. You can find my tracker code here and the message definitions here.

You could also look at the source for openni_tracker.cpp for some hints on how to define unique tf frames for each user.

Also, when I first was getting started with ROS+Kinect, I wrote a package that borrowed heavily from pi_tracker and openni_tracker to provide exactly what you are looking for. Actually, I essentially did exactly what @Pi_Robot suggested, and I publish arrays of skeleton messages. You can find my tracker code here and the message definitions here.