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Openni_tracker no skeleton data published in /tf

asked 2012-08-29 02:58:28 -0500

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Hello everybody,

I want to visualize the skeleton transforms in rviz. After starting openni.launch, openni_tracker and doing the psi-pose, i expect the different body-part frames in the tf-topic....but the only frame i receive is called /user, which tracks my position. Am I doing something wrong with the calibration or why are these body-part-frames missing? Or maybe is there something wrong with my tf-Configuration?

Here are the informations i get after "rostopic echo /tf":


transforms:


header: 
  seq: 0
  stamp: 
    secs: 1346418001
    nsecs: 185126405
  frame_id: /openni_camera
child_frame_id: /openni_rgb_frame
transform: 
  translation: 
    x: 0.0
    y: -0.04
    z: 0.0
  rotation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

transforms:


header: 
  seq: 0
  stamp: 
    secs: 1346418001
    nsecs: 63344952
  frame_id: /camera_depth_optical_frame
child_frame_id: /user
transform: 
  translation: 
    x: -0.260202636719
    y: 0.157726348877
    z: 0.974624938965
  rotation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

transforms:


header: 
  seq: 0
  stamp: 
    secs: 1346418001
    nsecs: 285380278
  frame_id: /openni_camera
child_frame_id: /openni_rgb_frame
transform: 
  translation: 
    x: 0.0
    y: -0.04
    z: 0.0
  rotation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

transforms:


header: 
  seq: 0
  stamp: 
    secs: 1346418001
    nsecs: 247788965
  frame_id: /openni_camera
child_frame_id: /openni_depth_frame
transform: 
  translation: 
    x: 0.0
    y: -0.02
    z: 0.0
  rotation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

I use ROS electric and Ubuntu 11.10 Oneric.

Best Regards Flezzo

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Comments

There is just the /user transform and some irrelevant transforms (i think they are not relevant for my problem) posted on the /tf topic.There appear no head-transform for example, after echoing the /tf topic.After using roslaunch turtlebot_bringup kinect.launch, only the /user transform is published

Flezzo gravatar image Flezzo  ( 2012-08-30 02:04:40 -0500 )edit

I solved my problem by using the pi_tracker instead of the openni_tracker....

Flezzo gravatar image Flezzo  ( 2012-09-03 02:30:38 -0500 )edit

1 Answer

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answered 2012-08-29 03:48:43 -0500

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

Did you check if there are any transforms posted on the /tf topic? RVIZ will only display the transforms if you provied a full tree to the fixed frame... You can also set your fixed frame to your /camera_link-frame to check if the tracker works...

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Asked: 2012-08-29 02:58:28 -0500

Seen: 667 times

Last updated: Aug 31 '12