This package implements a TF broadcaster for publishing the skeleton data from the NTU RGB-D Dataset.

This codebase was developed and tested on Ubuntu 18.04 with ROS melodic.

After building this package in your workspace using catkin_make, run the below command

roslaunch nturgbd_skeleton node.launch skeleton_filename:=<path to skeleton_file> camera_frame_id:=<your camera frame id>

If the skeleton_filename and camera_frame_id are omitted from the command, the default values in the launch file shall be used.

You can visualize the joints as

• TFs in rviz or using the view_frames node from the tf package
• a MarkerArray on the topic /nturgbd_skeleton_viz