Wallframe User Manager

The WallFrame user manager receives [wallframe_msgs/TrackerUserArray](WallFrame Message Descriptions) messages from [wallframe_tracker](Wallframe Tracker).

The user manager currently listens to a single tracker, but it has the capability (which may be buggy) of listening to multiple trackers simultaneously. This could be useful if you want to expand the usable area of your workspace.
For each tracker message it gets, the user manager transforms the enclosed user data into the coordinate system set up as your relative frame (the parameters to set are /base_frame in the application manager launch file

  <rosparam>
    modulair:
      user:
        base_frame: wall_frame
  </rosparam>

and /relative_frame in our tracker launch files)

<param name="relative_frame" value="/wall_frame" />

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The user manager keeps its own list of users that enter and leave the workspace. The user manager publishes two topics about the current users:

User State Information

This is the continuous state of the user, including joint pose information and the state of various gestures (such as whether their hands are together or not). This information is published on the /wallframe/users/state topic, with the WallframeUser.msg message type.

User Discrete Events

Discrete events (such as a user putting their hands together) are emitted once per event, and contain information on which user caused the event. These messages are published on /wallframe/users/events and are of type WallFrameUserEvent.msg.

More information about the all the Wallframe message types can be found here