0
$\begingroup$

Rosanswers logo

The openni_tracker uses a TransformBroadcaster to publish the transforms it makes while tracking. I was going to write a subscriber node, but I realized that there is probably already one if openni_tracker is publishing something. Does anyone know the name of the subscriber node if it exists?

To clarify, I am looking for a specific node that uses a TransformListener to get information from the openni_tracker node.


Originally posted by qdocehf on ROS Answers with karma: 208 on 2011-07-11

Post score: 0


Original comments

Comment by qdocehf on 2011-07-11:
Thanks for the help.

Comment by Miguel Prada on 2011-07-11:
I'm afraid what you ask for is too specific for it to be available off-the-shelf. I'd insist on taking the TransformListener example and working from there. You can try to first receive just one of the transforms (e.g. right_hand) to get more confident and then extending to the rest of the frames.

Comment by qdocehf on 2011-07-11:
I already looked at this tutorial, and had the same plan. However, it is somewhat confusing for me to create a node based on a very different one. If there's a node that already listens to openni_tracker, it'd be easier for me to make the connections between what I am doing and the existing node.

Comment by Miguel Prada on 2011-07-11:
You should take the sample in http://www.ros.org/wiki/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29 and replace the frames that are requested to the TransformListener for any of the frames published by the openni_tracker. That should serve as a starting point to develop what you need.

Comment by qdocehf on 2011-07-11:
constant?

Comment by qdocehf on 2011-07-11:
I'm looking for any node that listens to openni_tracker. I don't need anything very complex, so any nodes will probably be sufficient. I just don't want to write a node if there's already an existing one, as I'm still not great with ROS. Also, why would the number of published transforms ever be

Comment by Miguel Prada on 2011-07-11:
You're looking for a node that listens to information from openni_tracker and does what? A blank node that listens to transforms between "openni_depth_frame" and each of the frames published by openni_tracker? Bear in mind that the number of published transforms is not even constant.

Comment by qdocehf on 2011-07-11:
Yes. Hopefully my update to the question makes it a bit more clear.

Comment by dornhege on 2011-07-11:
Are you looking for a TransformListener?

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

Answered in comments by @Miguel Prada


Originally posted by tfoote with karma: 58457 on 2011-10-06

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.