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receiving transforms from openni_tracker

asked 2011-07-11 03:44:55 -0500

qdocehf gravatar image

updated 2011-07-11 05:22:12 -0500

The openni_tracker uses a TransformBroadcaster to publish the transforms it makes while tracking. I was going to write a subscriber node, but I realized that there is probably already one if openni_tracker is publishing something. Does anyone know the name of the subscriber node if it exists?

To clarify, I am looking for a specific node that uses a TransformListener to get information from the openni_tracker node.

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Are you looking for a TransformListener?
dornhege gravatar image dornhege  ( 2011-07-11 04:51:24 -0500 )edit
Yes. Hopefully my update to the question makes it a bit more clear.
qdocehf gravatar image qdocehf  ( 2011-07-11 05:24:29 -0500 )edit
You're looking for a node that listens to information from openni_tracker and does what? A blank node that listens to transforms between "openni_depth_frame" and each of the frames published by openni_tracker? Bear in mind that the number of published transforms is not even constant.
Miguel Prada gravatar image Miguel Prada  ( 2011-07-11 05:50:24 -0500 )edit
I'm looking for any node that listens to openni_tracker. I don't need anything very complex, so any nodes will probably be sufficient. I just don't want to write a node if there's already an existing one, as I'm still not great with ROS. Also, why would the number of published transforms ever be
qdocehf gravatar image qdocehf  ( 2011-07-11 06:16:43 -0500 )edit
constant?
qdocehf gravatar image qdocehf  ( 2011-07-11 06:17:07 -0500 )edit
You should take the sample in http://www.ros.org/wiki/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29 and replace the frames that are requested to the TransformListener for any of the frames published by the openni_tracker. That should serve as a starting point to develop what you need.
Miguel Prada gravatar image Miguel Prada  ( 2011-07-11 06:24:54 -0500 )edit
I already looked at this tutorial, and had the same plan. However, it is somewhat confusing for me to create a node based on a very different one. If there's a node that already listens to openni_tracker, it'd be easier for me to make the connections between what I am doing and the existing node.
qdocehf gravatar image qdocehf  ( 2011-07-11 06:41:15 -0500 )edit
I'm afraid what you ask for is too specific for it to be available off-the-shelf. I'd insist on taking the TransformListener example and working from there. You can try to first receive just one of the transforms (e.g. right_hand) to get more confident and then extending to the rest of the frames.
Miguel Prada gravatar image Miguel Prada  ( 2011-07-11 06:46:39 -0500 )edit

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answered 2011-10-06 17:09:53 -0500

tfoote gravatar image

Answered in comments by @Miguel Prada

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Asked: 2011-07-11 03:44:55 -0500

Seen: 461 times

Last updated: Oct 06 '11