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
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
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
...
# run in your ros2_ws/src folder
git clone https://gitlab.com/bob-ros2/openni_tracker_ros2.git
cd ..
colcon build
. install/setup.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~frame_id (string, default: camera_depth_frame)
Anchor frame_id of skeleton frames.
This ROS node publishes a Marker array based on tf2 transform from openni_tracker node.
# start the node.
ros2 run openni_tracker_ros2 skeleton_marker~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.