pirobot / skeleton_markers

Track and display skeleton markers using ROS and OpenNI

PLEASE NOTE: This code is depreciated and will not be maintained or developed further.

Track and display skeleton markers using ROS and OpenNI.

skeleton_markers's Issues

Hands Rotation Ain't Working

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

I tried other things, like torso to hand, but the rotation wont change unless I move my torso, and not when I move my hand. It seems that the hand is at a static pose, even though I can see the skeleton moving when I move any part of my body.
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

Error on "git checkout hydro-devel" and Method 1

Hi, thanks so much for providing this package. That is cool!

However I encounter some problems (ROS Hydro + Ubuntu 12.10).

1. When I install it, on command git checkout hydro-devel, it says
   fatal: Not a git repository (or any parent up to mount point /home)
   Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set).
   I do not know what does it mean. But I can catkin_make the package...
2. After installation, I try to run it. however the first method does not work for me, while the second method works well. The log on terminal is listed below (a bit long, sorry for that).

Could you please help me solve the problems? Many thanks.

... logging to /home/rical/.ros/log/26c87f8e-b473-11e3-8635-58946b7e05e0/roslaunch-rical-CF-19RHRAX1M-29161.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://rical-CF-19RHRAX1M:51203/

SUMMARY

PARAMETERS

• /kinect_frames_deprecated/from_pkg
• /kinect_frames_deprecated/from_pkg_path
• /kinect_frames_deprecated/name
• /kinect_frames_deprecated/to_pkg
• /kinect_frames_deprecated/to_pkg_path
• /robot_state_publisher/publish_frequency
• /rosdistro
• /rosversion
• /skeleton_markers/color/a
• /skeleton_markers/color/b
• /skeleton_markers/color/g
• /skeleton_markers/color/r
• /skeleton_markers/fixed_frame
• /skeleton_markers/id
• /skeleton_markers/lifetime
• /skeleton_markers/ns
• /skeleton_markers/rate
• /skeleton_markers/scale
• /skeleton_markers/skeleton_frames
• /skeleton_markers/tf_prefix
• /skeleton_tracker/fixed_frame
• /skeleton_tracker/load_filepath
• /use_sim_time

NODES
/
kinect_frames_deprecated (rgbd_launch/hydro-upgrade-notice)
robot_state_publisher (robot_state_publisher/state_publisher)
skeleton_markers (skeleton_markers/skeleton_markers.py)
skeleton_tracker (skeleton_markers/skeleton_tracker)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [29179]
[ERROR] [1395792066.514962580]: Could not find parameter robot_description on parameter server
[ERROR] [1395792066.515134779]: Could not generate robot model
[ERROR] [1395792066.515215897]: Failed to extract kdl tree from xml robot description
process[kinect_frames_deprecated-2]: started with pid [29191]
[robot_state_publisher-1] process has died [pid 29179, exit code 255, cmd /opt/ros/hydro/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher log:=/home/rical/.ros/log/26c87f8e-b473-11e3-8635-58946b7e05e0/robot_state_publisher-1.log].
log file: /home/rical/.ros/log/26c87f8e-b473-11e3-8635-58946b7e05e0/robot_state_publisher-1.log
ERROR: cannot launch node of type [skeleton_markers/skeleton_tracker]: can't locate node [skeleton_tracker] in package [skeleton_markers]
process[skeleton_markers-4]: started with pid [29199]
[FATAL] [WallTime: 1395792067.036920] kinect_frames.launch has moved to rgbd_launch! Replace "$(find openni_launch)/launch/kinect_frames.launch" with "$(find rgbd_launch)/launch/kinect_frames.launch". This notice will be removed in ROS Indigo
================================================================================REQUIRED process [kinect_frames_deprecated-2] has died!
process has finished cleanly
log file: /home/rical/.ros/log/26c87f8e-b473-11e3-8635-58946b7e05e0/kinect_frames_deprecated-2.log
Initiating shutdown!

[skeleton_markers-4] killing on exit
Traceback (most recent call last):
File "/home/rical/catkin_ws/src/skeleton_markers/nodes/skeleton_markers.py", line 22, in
import roslib; roslib.load_manifest('skeleton_markers')
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 98, in _generate_python_path
packages = get_depends(pkg, rospack)
File "/opt/ros/hydro/lib/python2.7/dist-packages/roslib/launcher.py", line 51, in get_depends
vals = rospack.get_depends(package, implicit=True)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
[kinect_frames_deprecated-2] killing on exit
s.update(self.get_depends(p, implicit))
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
s.update(self.get_depends(p, implicit))
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 221, in get_depends
names = [p.name for p in self.get_manifest(name).depends]
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 159, in get_manifest
return self._load_manifest(name)
File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 198, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
File "/usr/lib/pymodules/python2.7/rospkg/manifest.py", line 375, in parse_manifest_file
p = parse_package(package_filename)
File "/usr/lib/pymodules/python2.7/catkin_pkg/package.py", line 317, in parse_package
return parse_package_string(f.read(), filename)
File "/usr/lib/pymodules/python2.7/catkin_pkg/package.py", line 441, in parse_package_string
unknown_attrs = [str(attr) for attr in node.attributes.keys() if str(attr) not in known[node.tagName]]
KeyboardInterrupt
shutting down processing monitor...
... shutting down processing monitor complete
done

markers_from_skeleton_msg.py add queue_size to publisher

According to the warning, the publisher should have queue_size.

self.marker_pub = rospy.Publisher('skeleton_markers', Marker, queue_size=10)

Can't publish depth image

Folks,

How can I publish the depth image so that other ROS nodes can me use of it? When I convert the depth generator data to CV_16UC1 and publish I just get a black image on my other nodes. Do you know how this conversion between Openni/OpenGL and ROS works?
See my post here: ros_answer

Thanks

permission to use this files

Can I use try use this files to learn to write skeletal tracking program

skeleton_markers markers_from_tf.launch isn't working

when i ran roslaunch skeleton_markers markers_from_tf.launch , i met following mistakes. I am new ros users ,it very confused me

[INFO] [WallTime: 1512315359.407959] Initializing Skeleton Markers Node...
Traceback (most recent call last):
File "/home/mzy/catkin_ws/src/rbx1/skeleton_markers/nodes/markers_from_tf.py", line 142, in
SkeletonMarkers()
File "/home/mzy/catkin_ws/src/rbx1/skeleton_markers/nodes/markers_from_tf.py", line 69, in init
frames = [f for f in tf_listener.getFrameStrings() if f.startswith('head_')]
File "/opt/ros/indigo/lib/python2.7/dist-packages/tf/listener.py", line 98, in getFrameStrings
return [p for p, _ in data.items()]
AttributeError: 'list' object has no attribute 'items'
[markers_from_tf-3] process has died [pid 2204, exit code 1, cmd /home/mzy/catkin_ws/src/rbx1/skeleton_markers/nodes/markers_from_tf.py __name:=markers_from_tf __log:=/home/mzy/.ros/log/a58f5b96-d83f-11e7-9a2b-45de7d56a8a2/markers_from_tf-3.log].
log file: /home/mzy/.ros/log/a58f5b96-d83f-11e7-9a2b-45de7d56a8a2/markers_from_tf-3*.log