Visualization does not match actual joint values about hri_fullbody HOT 8 OPEN

            KeyValue(key="Last detected body ID", value=str(next(reversed(self.detected_bodies), ''))),

<launch>

    <arg name="rgb_camera" default="/camera/color/"/>
    <arg name="rgb_camera_topic" default="$(arg rgb_camera)/image_raw"/>
    <arg name="rgb_camera_info" default="$(arg rgb_camera)/camera_info"/>

    <arg name="use_depth" default="true"/>
    <arg name="depth_camera" default="/camera/depth/"/>
    <arg name="depth_camera_topic" default="$(arg depth_camera)/image_rect_raw"/>
    <arg name="depth_camera_info" default="$(arg depth_camera)/camera_info"/>

    <!-- console output of detected bounding boxes, meant for single body execution -->
    <arg name="textual_debug" default="true"/>

    <!-- publishes a TF tree of the joints, *without* performing IK kinematics to
         properly align the joints' frames to the kinematci model of the human -->
    <arg name="stickman_debug" default="true"/>

     <!-- 
      If 'single_body' is False, hri_fullbody waits for bodies Region of Interests to be published on /humans/bodies/xxx/roi, and it uses those RoIs to perform 3D skeleton estimation.
      If 'single_body' is True, the node will not use external body detections, and instead will detect *a single* person, and provide the RoI + 3D skeleton of that person.
    -->
    <arg name="single_body" default="true"/>

    <include file="$(find hri_fullbody)/launch/hri_fullbody.launch" pass_all_args="true" />

    <!-- <node name="usb_cam" pkg="usb_cam" type="usb_cam_node">
        <remap from="/usb_cam/image_raw" to="$(arg rgb_camera_topic)"/>
        <remap from="/usb_cam/camera_info" to="$(arg rgb_camera_info)"/>
    </node> -->

    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find hri_fullbody)/rviz/fullbody_urdf_visualization.rviz" output="screen"/>

</launch>

<launch>

    <arg name="rgb_camera" default="/camera/color/"/>
    <arg name="rgb_camera_topic" default="$(arg rgb_camera)/image_raw"/>
    <arg name="rgb_camera_info" default="$(arg rgb_camera)/camera_info"/>

    <arg name="use_depth" default="False"/>
    <arg name="depth_camera" default="/camera/depth/"/>
    <arg name="depth_camera_topic" default="$(arg depth_camera)/image_rect_raw"/>
    <arg name="depth_camera_info" default="$(arg depth_camera)/camera_info"/>

    <!-- publishes a TF tree of the joints, *without* performing IK kinematics to
         properly align the joints frames to the kinematic model of the human -->
    <arg name="stickman_debug" default="False"/>

     <!-- 
      If 'single_body' is False, hri_fullbody waits for bodies Region of Interests to be published on /humans/bodies/xxx/roi, and it uses those RoIs to perform 3D skeleton estimation.
      If 'single_body' is True, the node will not use external body detections, and instead will detect *a single* person, and provide the RoI + 3D skeleton of that person.
    -->
    <arg name="single_body" default="true"/>


    <node name="hri_fullbody" pkg="hri_fullbody" type="detect" output="screen">
        <param name="use_depth" value="$(arg use_depth)"/>
        <param name="stickman_debug" value="$(arg stickman_debug)"/>
        <param name="single_body" value="$(arg single_body)"/>

        <remap from="/image" to="$(arg rgb_camera_topic)"/>
        <remap from="/camera_info" to="$(arg rgb_camera_info)"/>
        <remap from="/depth_image" to="$(arg depth_camera_topic)"/>
        <remap from="/depth_info" to="$(arg depth_camera_info)"/>
    </node>

</launch>