UPDATE: Added ability to share Depth and RGB images with other ROS Nodes!
Unfortunately, Nuitrack accesses the depth camera directly, so ROS can’t access the camera. (there may be a way to do this with OpenNI? I don’t know…)
I wanted other nodes to be able to access the color and depth streams, so I have added the ability to publish image messages for both Color and Depth.
I initially was going to use OpenCV, but ended up not using it, as ROS Kinetic image transport uses OpenCV 3.0, while NuiTrack uses OpenCV 2.4 (and you can’t mix OpenCV versions in the same process). So, I publish the Image Message directly, based upon the sample from Nuitrack_gl_sample. Now all my ROS nodes have access to color and depth frames!
Code is checked in at