Hands Rotation Ain't Working

RoboEvangelist commented 8 years ago

Folks,

I can't get translation for the hands, but not rotation. The Rotation values remain constant per the next command: rosrun tf tf_echo /openni_depth_frame /left_hand_1

And I know the frames exist, otherwise I would get errors in both ROS with the command above, or in my software...you know about those transform errors. I also checked the frames tree, and the positions are correct. I get something like this:

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1466645925
        nsecs: 597857799
      frame_id: openni_depth_frame
    child_frame_id: left_hand
    transform: 
      translation: 
        x: -0.51915814209
        y: -0.575349365234
        z: 1.11227575684
      rotation: 
        x: 0.0
        y: 0.0
        z: 1.0
        w: 0.0

Rotation never changes. I have the same issue with the skeleton_tracker package (which also depends on the openni_tracker). Any idea what could be happening? Any yaml/xml files I could be missing? I have not modified the openni_tracker at all, though frames.pdf right.txt

.

Thanks, guys!

RoboEvangelist commented 8 years ago

Well, I can get the hand rotation with respect to the body parts. I guess that suffices for now

RoboEvangelist commented 8 years ago

Never mind. I do transform, for instance, between right hand and torso, but the numbers do not change when I move my hand. They only change when I move my torso. That does not make sense. It's like the hand has a static pose. I see the hand moving in the skeleton tracker, and the translation is correct, but not in terms of Rotation. What is it that I am missing?

ros-drivers / openni_tracker

Hands Rotation Ain't Working #11