Read me is updated, cmake file is updated with openni and nite environment variables

Author: binnurr

CMakeLists.txt

@@ -117,8 +117,8 @@ catkin_package(
 # include_directories(include)
 include_directories(
   ${catkin_INCLUDE_DIRS}
-  /home/binnur2/robotics/MoreProject/OpenNI2/Include
-  /home/binnur2/robotics/MoreProject/nite/Include
+  $ENV{NITE2_INCLUDE}
+  $ENV{OPENNI2_INCLUDE}
 )
 
 ## Declare a C++ library
@@ -145,8 +145,8 @@ include_directories(
 ## Specify libraries to link a library or executable target against
  target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-   /home/binnur2/robotics/MoreProject/OpenNI2/Bin/x64-Release/libOpenNI2.so
-   /home/binnur2/robotics/MoreProject/nite/Redist/libNiTE2.so
+   $ENV{NITE2_REDIST64}/libNiTE2.so
+   $ENV{OPENNI2_REDIST64}/libOpenNI2.so
  )
 
 #############

NiTE2/.svn/all-wcprops

@@ -1,4 +1,32 @@
-~/robotics/MoreProject/rosIndigo/src/skeleton_tracking$ rosrun skeleton_tracking skeleton_tracking Captured.oni 
+Download and Install OpenNI from http://structure.io/openni
+Download and Install Nite from https://www.dropbox.com/s/c46upw6s8ml6i0t/nite.zip?dl=0
+Install scripts will create NiTEDevEnvironment and OpenNIDevEnvironment
+Source NiTEDevEnvironment and OpenNIDevEnvironment from .bashrc
+Source .bashrc
 
-~/robotics/MoreProject/rosIndigo$ catkin_make
+clone the ros package in https://github.com/binnurr/joint_extractor
+copy the NiTE2 folder under nite/Redist/ to devel folder of the package
+(it should be in the same directory with executable file)
+
+to control the avatar in Morse with skeleton tracking package, please run the followings; 
+
+roscore
+morse run morse/examples/tutorials/new_human_control.py
+roslaunch skeleton_tracking tracking.launch (which plays the .Oni file written in the launch file)
+
+or
+
+roscore
+morse run morse/examples/tutorials/new_human_control.py
+roslaunch skeleton_tracking trackingRC.launch (which runs on real stream from Asus Xtion)
+
+
+to record a .Oni file simply run NiViewer under OpenNI2/Bin
+press S (recording will start)
+press any key to stop recording
+Then copy this .Oni file to the directory of executable of skeleton tracking (which is devel folder)
+
+Please also note that this code runs with the morse code which allows rotations along 3 axes
+To get the relevant morse branch, go to 
+https://github.com/binnurr/morse/tree/skeleton_tracking/
 

NiTE2/.svn/entries

@@ -57,7 +57,7 @@ class TrackUserNode
 
 		ac = new actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction>(topic_name, true);
 		ROS_INFO("Waiting for action server to start.");
-		//ac->waitForServer(); //will wait for infinite time
+		ac->waitForServer(); //will wait for infinite time
 		ROS_INFO("Action server started, sending goal.");
 
 		// create subscribers
@@ -134,9 +134,9 @@ class TrackUserNode
 
 		while(nh.ok())
 		{
-		    ros::Duration dur = ros::Time::now() - previous;
-		    previous = ros::Time::now();
-		    //std::cout<<"TimePassed: "<<dur.toSec()<<std::endl;
+//		    ros::Duration dur = ros::Time::now() - previous;
+//		    previous = ros::Time::now();
+//		    std::cout<<"TimePassed: "<<dur.toSec()<<std::endl;
 			  trackUserNI.waitAndUpdateAll();
 
 				// do all processing here
@@ -154,7 +154,7 @@ class TrackUserNode
 						    goal.trajectory.points[0].positions[i] = joints[jointIndexes[i]];
 						}
 						goal.trajectory.points[0].time_from_start = ros::Duration(0.1);
-						//ac->sendGoalAndWait(goal);
+						ac->sendGoalAndWait(goal);
 
 				}
 				else if(check==6){