Revision as of 11:46, 17 October 2018

OptiTrack

TODO: Importar documentação

Tutorial OptiTrack ROS

This is an updated tutorial from the original ros wiki for OptiTrack.

Streaming of OptiTrack mocap data to tf ROS.

This package contains a node that translates motion capture data from an OptiTrack rig to tf transforms, poses and 2D poses. The node receives packets that are streamed by the Tracking Tools software, decodes them and broadcasts the poses of configured rigid bodies as tf transforms, poses, and/or 2D poses.

Currently, this node supports the NatNet streaming protocol v2.2

Installation

The easiest way to get the mocap_optitrack package in Ubuntu:

$ git clone https://github.com/ros-drivers/mocap_optitrack.git

To install Tracking Tools, see the instructions on the Natural Point website.

Configuring Tracking Tools

After installing Tracking Tools you will need to configure it for streaming of rigid bodies to the machine running the mocap_optitrack ROS node.

Open the "Streaming Properties" pane in Tracking Tools and enable the "Broadcast Frame Data" checkbox. Set the "Stream Rigid Bodies" option to "True" if it's not set already.

Set "Type" to "Multicast", the ports should be left as-is. Unless the machine running Tracking Tools has multiple network interfaces, the "Local Interface" may be set as "Preferred". The "Multicast Interface" should be set to the address of the machine running the mocap_optitrack node.