A working ROS wrapper for the KinectOne (v2) using libfreenect2

• install libfreenect2
  • Make sure to install all the optional stuff, including OpenCL and OpenNI2
  • When you build the library, do not follow the instructions there, instead run

  mkdir build && cd build
  cmake .. -DCMAKE_INSTALL_PREFIX=/usr/
  make
  sudo make install

• Download NiTE2 and put it in ~/package_ws/NiTE-Linux-x64-2.2/
  • Or you can put it in some other random places, but you need to modify CMakeList.txt and setup_nite.bash
• source setup_nite.bash

To run the program the launch file needs to be used

roslaunch kinect2_tracker tracker.launch

• /people_skeleton : kinect2_tracker::user_IDs, id array of the tracked people
• /people_points: kinect2_tracker::user_points, center of mass for each person
• /people_points_viz: visualization_msgs::Marker, people points to show in rviz
• tf transforms for the human skeletons
• Kinect RGB, depth and infrad images

• tf_prefix: The prefirx when publishing tf
• relative_frame: The base frame of the Kinect observations