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| − | ==OpenNI traker==
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| − | ===Intalación===
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| − |
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| − | Lo primero que vamos a decir es como configurar el entorno para poder trabajar con la librería skeleton tracking, para ello vamos a trabajar con ROS, la versión fuerte, para instalarlo:
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| − |
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| − | <syntaxhighlight>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>
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| − |
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| − |
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| − | Después de eso, para poder trabajar con la kinect, debemos instalar los drivers de openni, recordar que estamos trabajando con la versión fuerte de ros:
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| − |
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| − | <syntaxhighlight>sudo apt-get install ros-fuerte-openni-camera ros-fuerte-openni-launch</syntaxhighlight>
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| − |
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| − |
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| − | La librería skeleton tracking, que es la que vamos a utilizar se encuentra en el paquete NITE, que puedes encontrar en el siguiente enlace: [http://www.openni.org/openni-sdk/openni-sdk-history-2/], debemos descargarnos la versión 1.5, ya que a partir de la versión 2.0 da problemas de compatibilidad y no conseguiremos hacer funcionar la librería skeleton tracking.
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| − |
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| − | Una vez descargado lo descomprimimos y ejecutamos el fichero ''install.sh''.
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| − |
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| − | <syntaxhighlight>sudo ./install.sh</syntaxhighlight>
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| − |
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| − | Debemos obtener lo siguiente:
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| − |
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| − | <syntaxhighlight>Installing NITE
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| − | ***************
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| − |
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| − | Copying shared libraries... OK
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| − | Copying includes... OK
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| − | Installing java bindings... OK
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| − | Installing module 'Features_1_3_0'...
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| − | Registering module 'libXnVFeatures_1_3_0.so'... OK
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| − | Installing module 'Features_1_3_1'...
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| − | Registering module 'libXnVFeatures_1_3_1.so'... OK
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| − | Installing module 'Features_1_4_1'...
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| − | Registering module 'libXnVFeatures_1_4_1.so'... OK
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| − | Installing module 'Features_1_4_2'...
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| − | Registering module 'libXnVFeatures_1_4_2.so'... OK
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| − | Installing module 'Features_1_5_2'...
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| − | Registering module 'libXnVFeatures_1_5_2.so'... OK
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| − | Copying XnVSceneServer... OK
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| − | Installing module 'Features_1_5_2'
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| − | registering module 'libXnVHandGenerator_1_3_0.so'...OK
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| − | Installing module 'Features_1_5_2'
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| − | registering module 'libXnVHandGenerator_1_3_1.so'...OK
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| − | Installing module 'Features_1_5_2'
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| − | registering module 'libXnVHandGenerator_1_4_1.so'...OK
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| − | Installing module 'Features_1_5_2'
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| − | registering module 'libXnVHandGenerator_1_4_2.so'...OK
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| − | Installing module 'Features_1_5_2'
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| − | registering module 'libXnVHandGenerator_1_5_2.so'...OK
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| − | Adding license.. OK
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| − |
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| − | *** DONE ***
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| − | </syntaxhighlight>
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| − |
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| − | Por último, solo nos falta instalar el paquete en cuestión ''openni_tracker ''.
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| − |
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| − | <syntaxhighlight>sudo apt-get install ros-fuerte-openni-tracker</syntaxhighlight>
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| − |
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| − |
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| − | ===Ejecutando Skeleton Tracking===
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| − |
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| − | Debemos abrir 3 terminales diferentes:
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| − |
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| − | * En el primero, ejecutaremos ROS, para ello escribimos en linea de comandos:
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| − | <syntaxhighlight>roscore</syntaxhighlight>
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| − | y nos debe aparecer algo como esto:
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| − | <syntaxhighlight>... logging to /home/aitana/.ros/log/f3ff128e-5c2a-11e3-8ee4-0c6076187d47/roslaunch-aitana-laptop-3492.log
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| − | Checking log directory for disk usage. This may take awhile.
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| − | Press Ctrl-C to interrupt
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| − | Done checking log file disk usage. Usage is <1GB.
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| − |
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| − | started roslaunch server http://aitana-laptop:60613/
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| − | ros_comm version 1.8.11
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| − |
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| − |
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| − | SUMMARY
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| − | ========
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| − |
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| − | PARAMETERS
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| − | * /rosdistro
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| − | * /rosversion
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| − |
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| − | NODES
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| − |
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| − | auto-starting new master
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| − | process[master]: started with pid [3508]
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| − | ROS_MASTER_URI=http://aitana-laptop:11311/
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| − |
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| − | setting /run_id to f3ff128e-5c2a-11e3-8ee4-0c6076187d47
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| − | process[rosout-1]: started with pid [3521]
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| − | started core service [/rosout]
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| − | </syntaxhighlight>
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| − |
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| − | Lo dejamos corriendo en segundo plano.
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| − | * En el segundo terminal, debemos lanzar los drivers openni para la kinect
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| − |
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| − | <syntaxhighlight>roslaunch openni_launch openni.launch</syntaxhighlight>
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| − |
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| − | Y una vez más, nos debe aparecer algo como lo que se muestra a continuación:
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| − |
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| − | <syntaxhighlight>... logging to /home/aitana/.ros/log/f3ff128e-5c2a-11e3-8ee4-0c6076187d47/roslaunch-aitana-laptop-3614.log
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| − | Checking log directory for disk usage. This may take awhile.
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| − | Press Ctrl-C to interrupt
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| − | Done checking log file disk usage. Usage is <1GB.
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| − |
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| − | started roslaunch server http://aitana-laptop:58367/
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| − |
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| − | SUMMARY
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| − | ========
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| − |
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| − | PARAMETERS
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| − | * /camera/depth/rectify_depth/interpolation
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| − | * /camera/depth_registered/rectify_depth/interpolation
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| − | * /camera/disparity_depth/max_range
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| − | * /camera/disparity_depth/min_range
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| − | * /camera/disparity_depth_registered/max_range
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| − | * /camera/disparity_depth_registered/min_range
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| − | * /camera/driver/depth_camera_info_url
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| − | * /camera/driver/depth_frame_id
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| − | * /camera/driver/depth_registration
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| − | * /camera/driver/device_id
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| − | * /camera/driver/rgb_camera_info_url
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| − | * /camera/driver/rgb_frame_id
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| − | * /rosdistro
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| − | * /rosversion
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| − |
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| − | NODES
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| − | /camera/depth/
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| − | metric (nodelet/nodelet)
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| − | metric_rect (nodelet/nodelet)
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| − | points (nodelet/nodelet)
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| − | rectify_depth (nodelet/nodelet)
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| − | /camera/rgb/
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| − | debayer (nodelet/nodelet)
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| − | rectify_color (nodelet/nodelet)
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| − | rectify_mono (nodelet/nodelet)
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| − | /
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| − | camera_base_link (tf/static_transform_publisher)
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| − | camera_base_link1 (tf/static_transform_publisher)
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| − | camera_base_link2 (tf/static_transform_publisher)
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| − | camera_base_link3 (tf/static_transform_publisher)
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| − | camera_nodelet_manager (nodelet/nodelet)
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| − | /camera/
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| − | disparity_depth (nodelet/nodelet)
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| − | disparity_depth_registered (nodelet/nodelet)
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| − | driver (nodelet/nodelet)
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| − | points_xyzrgb_depth_rgb (nodelet/nodelet)
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| − | register_depth_rgb (nodelet/nodelet)
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| − | /camera/ir/
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| − | rectify_ir (nodelet/nodelet)
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| − | /camera/depth_registered/
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| − | metric (nodelet/nodelet)
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| − | metric_rect (nodelet/nodelet)
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| − | rectify_depth (nodelet/nodelet)
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| − |
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| − | ROS_MASTER_URI=http://localhost:11311
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| − |
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| − | core service [/rosout] found
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| − | process[camera_nodelet_manager-1]: started with pid [3634]
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| − | process[camera/driver-2]: started with pid [3635]
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| − | process[camera/rgb/debayer-3]: started with pid [3636]
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| − | process[camera/rgb/rectify_mono-4]: started with pid [3637]
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| − | process[camera/rgb/rectify_color-5]: started with pid [3677]
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| − | process[camera/ir/rectify_ir-6]: started with pid [3700]
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| − | process[camera/depth/rectify_depth-7]: started with pid [3726]
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| − | process[camera/depth/metric_rect-8]: started with pid [3754]
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| − | process[camera/depth/metric-9]: started with pid [3793]
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| − | process[camera/depth/points-10]: started with pid [3830]
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| − | process[camera/register_depth_rgb-11]: started with pid [3868]
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| − | process[camera/depth_registered/rectify_depth-12]: started with pid [3913]
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| − | process[camera/depth_registered/metric_rect-13]: started with pid [3953]
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| − | process[camera/depth_registered/metric-14]: started with pid [4002]
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| − | process[camera/points_xyzrgb_depth_rgb-15]: started with pid [4055]
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| − | process[camera/disparity_depth-16]: started with pid [4106]
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| − | process[camera/disparity_depth_registered-17]: started with pid [4151]
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| − | process[camera_base_link-18]: started with pid [4281]
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| − | process[camera_base_link1-19]: started with pid [4344]
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| − | process[camera_base_link2-20]: started with pid [4396]
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| − | process[camera_base_link3-21]: started with pid [4434]
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| − | [ INFO] [1386082671.833888617]: Initializing nodelet with 2 worker threads.
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| − | [ERROR] [1386082676.174882681]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
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| − | [ERROR] [1386082676.193015430]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
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| − | [ERROR] [1386082676.216452698]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
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| − | [ INFO] [1386082676.733259757]: No devices connected.... waiting for devices to be connected
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| − | [ INFO] [1386082679.743069110]: No devices connected.... waiting for devices to be connected
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| − | [ INFO] [1386082682.752573950]: No devices connected.... waiting for devices to be connected
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| − | [ INFO] [1386082685.762060351]: No devices connected.... waiting for devices to be connected
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| − | </syntaxhighlight>
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| − |
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| − | Y que no cunda en pánico, que el error es normal.
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| − |
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| − | * Por último, abrimos un nuevo terminal y en este ejecutamos por fin:
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| − |
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| − | <syntaxhighlight>rosrun openni_tracker openni_tracker</syntaxhighlight>
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| − | Una vez que se está ejecutando, nos pondremos enfrente de la kinect en Psi Pose [[File:PsiPose.gif|thumb|left|Posición Psi Pose]], de esta forma nos aparecerán los siguientes mensajes.
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