Jacobian + relative velocity. Compiles, but not tested.
Made some changes to enable single kinect mode..
Added functionality to switch to other topics when the both topic is not publishing inside the tracking code. No topic currently has the point clouds converted and published separately, yet.
Fixed it so the kinect switching works in case of failure. Still a problem with the timing not working..
Fixed robot location bug. Tuned and tested human safety signal.
Made human-safety-signal an executable.
Some parameter tweaking..