Kinect-based Person Follower

Garratt Gallagher from CSAIL/MIT is at it again. Above, you can see his work on using the new OpenNI-based ROS drivers to get an iRobot Create to follow a person around. This code is based off of the skeleton tracker that comes with the NITE library.

For those of you figuring out how to get the NITE tracking data into ROS, take a look at Garratt's nifun package.