Let's launch the start_tracking.launch file from face_tracker_pkg using the following command. Note that you should connect your webcam to your PC:

    $ roslaunch face_tracker_pkg start_tracking.launch

If everything works fine, you will get output like the following; the first one is the original image, and the second one is the face-detected image:

Figure 17: Face-detected image

We have not enabled Dynamixel now; this node will just find the face and publish the centroid values to a topic called /face_centroid.

So the first part of the project is done-what is next? It's the control part, right? Yes, so next, we are going to discuss the second package, face_tracker_control.