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Package Summary

Skeleton Markers: Publish a list of joint markers for viewing in RViz

• Author: Patrick Goebel
• License: BSD
• Repository: pi-robot-ros-pkg
• Source: svn http://pi-robot-ros-pkg.googlecode.com/svn/trunk/skeleton_markers

Overview

Display the skeleton joints returned by the pi_tracker or openni_tracker packages as markers in RViz. This package contains two nodes for reading the tracked skeleton in two different ways: the skeleton_markers.py node subscribes to the Skeleton message topic returned by the pi_tracker package. The skeleton_markers_from_tf.py node reads the transforms directly from the openni_tracker package.

Skeleton Markers Node

skeleton_markers.py

A ROS node for displaying the skeleton joints returned by the pi_tracker package as markers in RViz.

Subscribed Topics

/skeleton (pi_tracker/Skeleton)

• Skeleton message published by the pi_tracker package

Published Topics

/skeleton_markers (visualization_msgs/Marker)

• Point type markers that can be displayed in RViz.

Parameters

~fixed_frame (str, default: /openni_depth_frame)

• Fixed reference frame

~rate (int, default: 20)

• Update rate

~scale (float, default: 0.07)

• Height and width of markers in meters.

~lifetime (float, default: 0 (forever))

• Duration of markers as displayed in RViz.

~ns (str, default: skeleton_markers)

• Namespace for markers.

~id (int, default: 0)

• Marker ID within namespace.

~color (dictionary, default: green: { 'r': 0.0, 'g': 1.0, 'b': 0.0, 'a': 1.0 })

• Marker color.

Example Launch File

Use the markers.launch file:

<launch>
  <include file="$(find pi_tracker)/launch/skeleton.launch" />

  <node pkg="skeleton_markers" name="skeleton_markers" type="skeleton_markers.py" output="screen">
    <rosparam file="$(find skeleton_markers)/params/marker_params.yaml" command="load" />
  </node>
</launch>

Note: use the markers.vcg RViz configuration file.

Skeleton Markers From tf Node

skeleton_markers_from_tf.py

A ROS node for displaying the skeleton joints returned by the openni_tracker package as markers in RViz.

Published Topics

/skeleton_markers (visualization_msgs/Marker)

• Point type markers that can be displayed in RViz.

Parameters

~fixed_frame (str, default: /openni_depth_frame)

• Fixed reference frame

~rate (int, default: 20)

• Update rate

~scale (float, default: 0.07)

• Height and width of markers in meters.

~lifetime (float, default: 0 (forever))

• Duration of markers as displayed in RViz.

~ns (str, default: skeleton_markers)

• Namespace for markers.

~id (int, default: 0)

• Marker ID within namespace.

~color (dictionary, default: green: { 'r': 0.0, 'g': 1.0, 'b': 0.0, 'a': 1.0 })

• Marker color.

~tf_prefix (str, default: skeleton)

• tf_prefix for identifying skeleton frames

Example Launch File

Use the markers_from_tf.launch file:

<launch>
  <include file="$(find openni_camera)/launch/openni_node.launch" />
  
  <node pkg="openni_tracker" name="openni_tracker" type="openni_tracker" output="screen">
    <param name="tf_prefix" value="skeleton" />
  </node>
  
  <node pkg="skeleton_markers" name="skeleton_markers" type="skeleton_markers_from_tf.py" output="screen">
    <rosparam file="$(find skeleton_markers)/params/marker_params.yaml" command="load" />
  </node>
</launch>

Note: use the markers_from_tf.vcg RViz configuration file.