I needed a ROS Publisher for BODY TRACKING for my robot, so I have created one and posted it on github. Note this is different than the Astra Launch package, which publishes general depth info (no body tracking).
The astra_body_tracker node publishes:
- 2D position for pan/tilt control,
- 3D position of person in relation to the robot
- Skeleton info
- Some markers in RVIZ for visualizing position of the person relative to the robot.