realsense_spencer_adaptor

A ROS package for running spencer people tracking from a realsense D435i camera. Contains:

• a node realsense_spencer_adaptor.py for changing the encoding on the realsense depth images to something spencer can handle.
• a launch file realsense_people_tracking.launch, which launches the realsense driver, the spencer algorithm and the adaptor node, and remaps the appropriate topics to ensure everything is connected correctly.

Usage

1. Install the realsense driver and spencer tracking.
2. Clone and catkin_make this package in your catkin workspace. Source the workspace.
3. roslaunch realsense_spencer_adaptor realsense_people_tracking.launch

References

• Github issue which discusses the depth image encoding issue: spencer-project/spencer_people_tracking#4
• Spencer people tracking github: https://github.com/spencer-project/spencer_people_tracking
• D435 ROS driver: http://wiki.ros.org/realsense2_camera