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The render above was done with Blender and a little help from Gimp.
Step 1: Watch the video!
Ok, now that's out of the way, we can get into the details. If you were successful in building and running the package as described in the readme, then you should be able to run the following command in the terminal:
roslaunch skeleton skeleton.launch
Documentation for the other packages used can be found on the source pages.