Ubuntu+ros+kinect for skeleton tracking

operating Environment : Ubuntu version 12.04 Ros version: Hydro

First of all, you have to install Ros, (that's what it says.) Its installation methods and tutorials are here. This is the Chinese version, not difficult. If you haven't studied Ros yet, but want to install it quickly, then you'll just look at 1. Install and configure the ROS environment.

Why should I use hydro? Now (especially when I write this, September 2014) has been updated indigo and Jade, its version of the release can see this URL, in fact, I have a mild obsessive-compulsive disorder, it is necessary to install the latest version of the thing, but because Openni_tracker to the new version of the support and not good, So I can only use this, the corresponding, hydro the highest support ubuntu12.04, so I will use 12.04 of the Ubuntu+hydro version of Ros.

packages that need to be installed : openni_launch openni_camera openin_tracker Rviz
You can install these three packages by executing the following three commands:

sudo apt-get install ros-<ros_distro>-rviz 
sudo apt-get install Ros-<ros_distro>-openni-camera 
sudo apt-get install ros-<ros_distro>-openni-launch 
sudo apt-get install ros-<ros_distro>- Openni-tracker
to change the <ros_distro> into the Ros version you installed, like my hydro, then
sudo apt-get install Ros-hydro-openni-camera

According to Http://wiki.ros.org/openni_tracker, run

Rosrun Openni_tracker Openni_tracker

Yes, but if it's so simple, I'll write this note (or tutorial). )?

1, encountered a bug:
(I would like to add $ to the command line to remind, but under the markdown, two dollar symbol is a formula, it will be ugly)
Run:

Source/opt/ros/hydro/setup.bash  

Note: If you do not execute this command, the operation under Ros cannot be performed. It is recommended to add it to the end of the ~/.BASHRC (how to fill in the Baidu), so every time you log in this account (Ubuntu must be logged into the account of AH), will carry out this command for you. But if you do not add to the ~/.BASHRC, then each time you open the terminal to execute this command, hmm.

Then, open three terminals and execute each of the following commands (note the note above):

Roscore
rosrun openni_launch openni_launch
rosrun openni_tracker openni_tracker

This error occurs when the third command is executed.

This problem occurs because the Openni version is 1.5.4, (my version at the time), but there is a library version of the tracking section is too low, this is the Openni_tracker bug, according to the above aspects of installing a high version of OK. (Not the reason I found, the solution is certainly not, Google can find it)

Find the following workaround:

Thanks for the pointer to ROS Answers. Yes, that's worked for me and here's my summary of how I implemented the fix:
Download the NiTE v1.5.2.23 binary package from one of the following links depending on whether you are using a 32-bit or 64-bit Installation of Ubuntu:
A. 32-bit:http://www.openni.org/wp-content/uploads/2013/10/nite-bin-linux-x86-v1.5.2.23.tar.zip
B. 64-bit:http://www.openni.org/wp-content/uploads/2013/10/nite-bin-linux-x64-v1.5.2.23.tar.zip
Unzip and extract the archive to a location of your choice (e.g. ~/tmp)
The unzipped archive is actually another archive in bz2 format so unzip and extract the archive to the same Step 2.
The resulting folder should be called nite-bin-dev-linux-x64-v1.5.2.23 (64-bit) or nite-bin-linux-x86-v1.5.2.23 (32-bit) /Move into this folder and then run the uninstall.sh script followed by the install.sh scripts. For the 64-bit version This would look like the following:
CD ~/tmp/nite-bin-dev-linux-x64-v1.5.2.23
sudo./uninstall.sh
sudo./install.sh

That means, to download nite v1.5.2.23 package, 32-bit under here, 64-bit here, download down is a. zip file, unzip it out. tar.zip file, and then unzip again, see the nite-bin-dev-linux-x64-v1.5.2.23 folder. Put this folder under ~/tmp and execute the following three commands:

CD ~/tmp/nite-bin-dev-linux-x64-v1.5.2.23
sudo./uninstall.sh
sudo./install.sh

2, the complete process
Open four terminals and perform each of the following:

Roslaunch openni_launch openni.launch camera:=openni 
rosrun openni_tracker openni_tracker 
rosrun Rviz Rviz

Then, in Rviz, change the global Options > Fixed Frame to Openni_depth_optical_frame.

Then, "Add" (bottom left corner), select PointCloud2.
Change the PointCloud2 >topic into/openni/depth_registered/points.

Then, click "Add" and select TF (at the bottom of the list).

Stand in front of the Kinect, pose a "surrender" posture (below), wait a moment, and the following nodes come out.

Reference:
Http://wiki.ros.org/openni_tracker
Http://wiki.ros.org/openni_camera
Http://wiki.ros.org/openni_launch
http://answers.ros.org/question/37615/openni_tracker-find-user-generator-failed/&usg= Alkjrhiah5abnuzl3dzbsdwllwej4cmoiw
http://answers.ros.org/question/37615/openni_tracker-find-user-generator-failed/&usg= Alkjrhiah5abnuzl3dzbsdwllwej4cmoiw
Http://www.openni.ru/openni-sdk/openni-sdk-history-2/&usg=ALkJrhjiYDwULBASzi4rNHGwA8JWhU7gJg

Complete the full text.

Welcome reprint, Reproduced please attach the original link.