The document provides an overview of Robot Operating System (ROS) and demonstrates Kinect tracking capabilities using OpenNI and ROS. It describes ROS architecture including packages, stacks, messages and services. It explains how ROS nodes communicate via topics, services and parameter server. It also gives technical details of Kinect sensor and how OpenNI framework is used for skeletal tracking and gesture recognition with Kinect. Finally, it demonstrates a ROS-based Kinect application for skeleton tracking, cursor control and hand gestures.

1. Piyush Chand (Master Student) NEC Europe Laboratories Ltd. Date: 3/02/2011 Robot Operating Systems (ROS) Overview & Kinect XBOX 360 Demonstration

7. Service Invocation

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14. Kinect: Abstract Layered View

16. User Generator Node Depth Generator Node Chain Production Node