Please also have a look at our more detailed documentation at http://wiki.ros.org/cob_people_detection .

Installation

1. Clone cob_openni2_tracker in catkin workspace:

   git clone https://github.com/ros-drivers/cob_openni2_tracker.git

2. Install ros packages and dependencies (or replace indigo by your favorite ROS version):

   ros-indigo-openni2-camera
   ros-indigo-openni2-launch
   ros-indigo-rgbd-launch
   ros-indigo-nodelet

or clone the git repositories:

git clone https://github.com/ros-drivers/openni2_camera.git <br>
git clone https://github.com/ros-drivers/openni2_launch.git <br>
git clone https://github.com/ros-drivers/rgbd_launch.git <br>

1. Download and install libopenni2.

2. Run catkin_make

Quick Start

Run the launch file:

roslaunch cob_openni2_tracker body_tracker_nodelet.launch

Alternative if you wish to have tf published for skeleton tracker:

Ensure than the file: cob_people_perception/cob_openni2_tracker/launch/body_tracker_params.yaml has the drawFrames to true.

Run the openni2_launch:

roslaunch openni2_launch openni2.launch depth_registration:=true

Run the cob_openni2_tracker:

roslaunch cob_openni2_tracker body_tracker_nodelet.launch

Changelog for package cob_openni2_tracker

1.0.5 (2019-03-14)

• Merge pull request #78 from ipa-fxm/fix/pluginlib_macro update to use non deprecated pluginlib macro
• update to use non deprecated pluginlib macro
• Merge pull request #75 from ipa320/remove_obsolete_cmake_modules remove obsolete dependencies to cmake_modules
• remove obsolete dependencies to cmake_modules
• Merge pull request #74 from ipa-rmb/indigo_dev OpenCV 2+3 compatibility cleanup
• Merge pull request #1 from ipa-rmb/indigo_dev Fixes for opencv 2 in indigo
• updates for having the software ready with opencv2 and 3
• Merge branch 'indigo_dev' of github.com:ipa320/cob_people_perception into merge
• Merge pull request #63 from ipa-fxm/use_external_project Multi distro travis indigo
• fix cob_openni_tracker
• Merge pull request #62 from ipa-rmb/indigo_dev added libxi and libxmu as dependencies for ros build farm
• cleaned up spaces/tabs
• added libxi and libxmu as dependencies for ros build farm
• Merge pull request #61 from ipa-rmb/indigo_dev bugfix in CMakeLists.txt that hindered catkin build
• update of CMakeLists
• Merge pull request #57 from ipa-rmb/indigo_dev A few updates and bugfixes on the tracker
• Merge branch 'indigo_dev' of github.com:ipa320/cob_people_perception into indigo_dev
• bugfixes with coordinate system definitions
• Merge pull request #58 from papallas/indigo_dev Added some further information to readme
• Minor change
• Minor change
• Added more information about quick start
• bugfix in bounding box display
• Merge branch 'indigo_dev' of github.com:ipa320/cob_people_perception into indigo_dev
• updating tf output
• Merge pull request #53 from ipa320/ipa-rmb-patch-1 Changed publisher queue size from inf to 1
• Changed publisher queue size from inf to 1 according to suggestion in issue #52
• corrected coordinate frame of output point cloud with segmented people
• Update readme.md
• Update readme.md
• Merge pull request #48 from ipa-rmb/indigo_dev Bugfix for running openni2_tracker and openni2_launch simultaneously
• updated readmes
• bugfix for running openni2_tracker and openni2_launch simultaneously
• Merge branch 'indigo_dev' of github.com:ipa320/cob_people_perception into indigo_dev
• working on running tracker and driver simultaneously
• Merge pull request #42 from mintar/fix_tracked_users Fix segfault from tracked_users_ initialization
• Fix segfault from tracked_users_ initialization tracked_users_ has to be initialized before registering the imageCallback, otherwise it can be NULL inside the callback, leading to the following segfault: #0 0x00007fffec52419a in std::list<nite::UserData, std::allocator<nite::UserData> >::empty (this=0x0) at /usr/include/c++/4.8/bits/stl_list.h:869 #1 0x00007fffec515161 in BodyTracker::imageCallback (this=0x95c090, color_image_msg=...) at /home/martin/ros-indigo-ws/src/cob_people_perception/cob_openni2_tracker/ros/src/body_tracker.cpp:196
• Merge pull request #31 from ipa-fmw/indigo_dev alphabetic order
• add dependency to openni2_camera
• Merge branch 'indigo_dev' of https://github.com/ipa-fmw/cob_people_perception into indigo_dev Conflicts: cob_leg_detection/CMakeLists.txt cob_leg_detection/package.xml
• alphabetic order
• Merge pull request #30 from ipa-rmb/indigo_dev conversion to package format 2 and little fixes
• cleaning and conversion to package format 2
• added missing install commands
• Merge pull request #1 from ipa320/indigo_dev updates from ipa320
• Merge pull request #27 from ipa-rmb/indigo_dev updates from rmb
• hopefully corrected dependencies to message generation in cob_perception_msgs
• fixing dependencies
• fixed some wrong dependencies
• updated package.xml information
• fixed warning
• Merge branch 'hydro_dev' of github.com:rmb-om/cob_people_perception into rmb-om-hydro_dev
• added new readme file
• fixed a bug
• fixed bug on cv functions.Added descriptions.Current state: working
• working on functions for image transform
• added body_tracker nodelet
• added a link creation script to allow NiTE to find its data files
• bugfixing
• fixed an install bug with a config file
• Merge branch 'indigo_dev' into rmb-om-hydro_dev
• merge with rmb-om
• merge with rmb-om
• catkinizing
• finalized catkin portation
• merge with rmb/indigo_dev
• a few updates for people_perception from rmb-om
• Merge branch 'hydro_dev' of github.com:rmb-om/cob_people_perception into rmb-om-hydro_dev
• bugfixing cob_people_perception
• bugfixing cob_people_perception
• fixed dependencies
• merge with rmb-om
• added openni2_tracker
• Contributors: Felix Messmer, Florian Weisshardt, Martin Guenther, Pierre Killy, Rafael, Richard Bormann, ipa-fmw, ipa-fxm, ipa-rmb, rmb-om