ROS RGB-D launch (for ViSP tracking)

ViSP has some packages (vision_visp and visp_ros) that allows to use the usual ViSP modules within ROS environment.

I found out that, for performing RGB-D tracking using ViSP in ROS, it is only needed to have a topic publishing the RGB frames, and another topic publishing the Depth map frames. 

The ViSP Tracker will read the information from these 2 topics and do its own magic. For this reason, there is no difference in using Orbbec Astra Pro or Intel Realsense D435, or any other RGB-D camera.

For now, I have a package to launch the realsense camera, with all the information and topics being published:

 

RGB image isn't calibrated with the Depth map, and that is why the point cloud appears to be mismatched.

The goal of this ROS - ViSP integration for tracking the object is to have a specific node for the tracking procedure, something like this:

To achieve this, there are some simple explanations and scripts examples in here.

I have been struggling with this integration for the past 2 days. For compiling a catkin with some ROS packages that are trying to build ViSP targets, you shall not have any other ViSP workspaces installed in your system. Delete/remove/uninstall all ViSP environments and then just clone the two ROS packages (beginning of this post) for working with ViSP in ROS.

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