I'm using a kinect with Baxter. I am having a problem getting baxter to move one of its hands to a humans hand to grab something from it.
In order to track people I am using
openni.launch from the package openni_launch
openni_tracker from the package openni_tracker.
After I add a tf display to Rviz:
I can successfully view the skeleton of a user in rviz when the fixed frame is 'openni_depth_frame'.
I can see the model of Baxter if the fixed frame is one of the frames that make up Baxter's tf model.
I wrote a script making 'openni_depth_frame' a child of 'head' (since the kinect is attached to the top of Baxter's head).
I have verified that this works by seeing that 'openni_depth_frame' is a child of 'head' in rqt_tf_tree after running this script.
However, I expected to see both the 'openni_depth_frame' frame and the frames that make up the user openni_tracker is tracking at the same time I can see baxter's model.
Am I incorrect in thinking that? Or does tf not work that way?
↧