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mcgi5sr2 / kinect2_tracker

body tracking for ROS using Nite2.2 and libfreenect2
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Cannot access the published data...!! #15

Open tanmayi06 opened 4 years ago

tanmayi06 commented 4 years ago

Everything worked fine for me, but I am not able to access the data from the published topics? In the /tf topic I am continuosly getting the same values even if I move the kinect around. And I am also not able to view the image of the kinect in rviz.

Can anyone please help me? Thanks in advance.

jltrovil commented 4 years ago

Some of the topics are missing. The skeleton coordinates should work properly as is. In Rviz, you need to select the Kinect frame as the Global frame. You then need to add tf and remove axes+names. This will allow you to visualize the movement of the body frame. Additionally, you can utilize tf echo to output the coordinates through properly specifying the landmark feature of interest for the current body frame ID. If the ID isn't correct, you won't get proper output. I updated the kinect2_tracker.hpp code so that the depth frame is included in the rostopic list. You can view this in Rviz by selecting either camera or image; I can't recall off the top of my head.