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https://github.com/bob-ros2/openni_tracker_ros2
This OpenNI tracker ROS2 Node broadcasts the OpenNI skeleton frames using tf2. This is a MIRRORED REPOSITORY Refer to the GitLab page for the origin.
https://github.com/bob-ros2/openni_tracker_ros2
node openni ros ros2 tracker
Last synced: 20 days ago
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This OpenNI tracker ROS2 Node broadcasts the OpenNI skeleton frames using tf2. This is a MIRRORED REPOSITORY Refer to the GitLab page for the origin.
- Host: GitHub
- URL: https://github.com/bob-ros2/openni_tracker_ros2
- Owner: bob-ros2
- License: apache-2.0
- Created: 2023-11-10T23:30:56.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2023-11-12T01:27:23.000Z (about 1 year ago)
- Last Synced: 2023-11-13T00:31:03.316Z (about 1 year ago)
- Topics: node, openni, ros, ros2, tracker
- Language: C++
- Homepage: https://gitlab.com/bob-ros2/openni_tracker_ros2
- Size: 21.5 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# OPENNI_TRACKER_ROS2
An OpenNI tracker ROS Node for ROS2.
It broadcasts the OpenNI skeleton frames using tf2.
This is a port of the ROS1 variant located here:\
https://github.com/ros-drivers/openni_tracker
## Installation Prerequisites
The NITE library must be manually installed for openni_tracker to function.
The two versions that are compatible with this package are 1.5.2.21 and 1.5.2.23.
NITE v1.5.2.23 can currently be downloaded from here:\
https://github.com/arnaud-ramey/NITE-Bin-Dev-Linux-v1.5.2.23
## Supported Camera
This ROS node was tested with Asus Xtion Pro under Ubuntu 22.04 running ROS Humble.
In order to work it was neccessary to configure below parameter:
```
sudo vi /etc/openni/GlobalDefaults.ini
...
UsbInterface=2
...
```
## Setup Node ##
```bash
# run in your ros2_ws/src folder
git clone https://gitlab.com/bob-ros2/openni_tracker_ros2.git
cd ..
colcon build
. install/setup.bash
```
## ROS Node openni_tracker
### Usage
```bash
# start the openni_tracker node
ros2 run openni_tracker_ros2 openni_tracker
# launch nodes openni_tracker and skeleton_markers
ros2 launch openni_tracker_ros2 openni_tracker.launch.py
# launch node openni_tracker without node skeleton_markers
ros2 launch openni_tracker_ros2 openni_tracker.launch.py openni_tracker:=false
```
## Node Parameter
> ~frame_id (string, default: camera_depth_frame)\
Anchor frame_id of skeleton frames.
## ROS Node skeleton_markers
This ROS node publishes a Marker array based on tf2 transform from openni_tracker node.
### Usage
```bash
# start the node.
ros2 run openni_tracker_ros2 skeleton_marker
```
## Node Parameter
> ~color: (double array, default: [0.0, 1.0, 0.0, 1.0])\
Marker color rgba.
> ~fixed_frame (string, default: camera_depth_frame)\
The fixed reference frame.
> ~id: (int, default: 0)\
Marker id.
> ~lifetime: (int, default: 0)\
Duration of markers in RViz; 0 is forever.
> ~ns (string, default: skeleton_markers)\
Marker namespace.
> ~rate (int, default: 30)\
Update rate.
> ~scale (double, default: 0.07)\
Height and width of markers in meters.
> ~skeleton_frames (string array)\
List of frames to show as Marker.