How do I run the 'openni_tracker'

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Many seem to be having a lot of issues utilizing openni_tracker. Hopefully this helps:

I am using ROS Hydro on Ubuntu 12.04 with a Microsoft Kinect. From top to bottom, this is what worked for me:

sudo apt-get install ros-<ros_distro>-openni-camera
sudo apt-get install ros-<ros_distro>-openni-launch
sudo apt-get install ros-<ros_distro>-openni-tracker

Go to this Dropbox from isura (Thanks) and download NITE-Bin-Linux-x64-v1.5.2.23.tar.zip. Extract the zip and tar into a temporary folder (i.e., ~/tmp).

cd ~/tmp/NITE-Bin-Dev-Linux-x64-v1.5.2.23/
sudo ./install.sh

Ensure your Microsoft Kinect is properly connected, then run:

roslaunch openni_launch openni_launch camera:=openni

In a separate terminal window run:

rosrun openni_tracker openni_tracker

In another terminal window run:

rosrun rviz rviz

In Rviz, change Global Options > Fixed Frame to openni_depth_optical_frame.

"Add" the visualization (bottom left) PointCloud2.

Change PointCloud2 >Topic to /openni/depth_registered/points (but whatever you pick works).

"Add" the visualization (bottom left) TF.

Stand in front of the Microsoft Kinect and make the "Psi Pose". Axes should appear on all your joints.

I hope this helps you. There are a lot of different versions of NITE out there and this is the one that happened to work for me.