As written, the skeleton-tracking bridge does not work when there is more than one user in the scene. This appears to be due to a dependence on a max buffer size of 28000 characters, which is exceeded once two people are tracked. A fix will affect both the server in Kinect2ServerService.cs and in the client in startBody.cpp.

When I run $ roslaunch k2_client kinect2Client.launch (after running rosmake and adding the folder to my ros path)

I get:
... logging to /home/ben/.ros/log/9136685e-5d42-11e4-8e16-90fba646d152/roslaunch-ben-DX4831-31694.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://ben-DX4831:44520/

SUMMARY

PARAMETERS

• /rosdistro: indigo
• /rosversion: 1.11.9
• /serverNameOrIP: 128.253.227.247

NODES
/head/kinect2/
startAudio (k2_client/startAudio)
startBody (k2_client/startBody)
startDepth (k2_client/startDepth)
startIR (k2_client/startIR)
startRGB (k2_client/startRGB)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
ERROR: cannot launch node of type [k2_client/startRGB]: can't locate node [startRGB] in package [k2_client]
ERROR: cannot launch node of type [k2_client/startDepth]: can't locate node [startDepth] in package [k2_client]
ERROR: cannot launch node of type [k2_client/startIR]: can't locate node [startIR] in package [k2_client]
ERROR: cannot launch node of type [k2_client/startBody]: can't locate node [startBody] in package [k2_client]
ERROR: cannot launch node of type [k2_client/startAudio]: can't locate node [startAudio] in package [k2_client]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

I'm not sure why it can't find the node files, while still finding the launch file.

I had the following error after running the launch file:

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::math::rounding_error> >'
   what():  Error in function boost::math::round<d>(d): Value -inf can not be represented in the target integer type.
[head/kinect2/startRGB-1] process has died [pid 31638, exit code -6, cmd /home/spelle/ros_ws/devel/lib/k2_client/startRGB __name:=startRGB __log:=/home/spelle/.ros/log/7ee2fe14-8308-11e5-9fa5-782bcb9a79bf/head-kinect2-startRGB-1.log].

Hi!

I'm using this package (actually the roboticsgroup fork because I'm on ROS Indigo) and k2_server to try and visualize skeleton data in RViz. Unfortunately, I'm having a really hard time lining up the skeleton coordinates with the image coordinates.

I thought this might have been as a result of incorrect camera calibration, but I can't figure out how to correct that. I tried using calibration files from iai_kinect but those throw all kinds of errors (YAML parsing errors, inability to find the files, etc). I even tried doctoring the iai_kinect calibration files to suppress the errors, but that simply led to wildly inaccurate coordinate frames for the images and the associated joint markers from the bodyArray.

How do you guys debug this package? How do you visualize your data? Any help or pointers would be greatly appreciated. Thanks!

k2_client simply doesn't build because its missing Audio.h

Branch https://github.com/personalrobotics/k2_client/tree/feature/k2_client works with merged skeleton_update branch (personalrobotics/herbpy@de4dce2) but master appears to fail.