Difference between revisions of "OptiTrack"
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<pre class="bash"> | <pre class="bash"> | ||
$ git clone https://github.com/ros-drivers/mocap_optitrack.git | $ git clone https://github.com/ros-drivers/mocap_optitrack.git | ||
| + | $ git checkout new-and-old-support-updated # use this branch, I tested the with commit 7723217 and it does not work | ||
| + | $ cd .. | ||
| + | $ catkin_make | ||
</pre> | </pre> | ||
| Line 32: | Line 35: | ||
# 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. | # 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. | # 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 | + | # 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 in the range |
| + | 224.0.0.0 through 239.255.255.255. I used 230.0.0.1 (use the same in mocap.yaml on ROS), with command port in 1510 and data port in 1511. | ||
| + | |||
| + | === Configuring mocap_optitrack === | ||
| + | Once motion capture data is being streamed to the mocap_optitrack node, the mapping of trackables to ROS topics must be defined. A sample configuration file called "mocap.yaml" is included with the package, you can find it in the config directory of the package. | ||
| + | |||
| + | <pre class="bash"> | ||
| + | $ roscd mocap_optitrack/config | ||
| + | $ nano mocap.yaml | ||
| + | </pre> | ||
Revision as of 19:25, 17 October 2018
Contents
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 $ git checkout new-and-old-support-updated # use this branch, I tested the with commit 7723217 and it does not work $ cd .. $ catkin_make
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 in the range
224.0.0.0 through 239.255.255.255. I used 230.0.0.1 (use the same in mocap.yaml on ROS), with command port in 1510 and data port in 1511.
Configuring mocap_optitrack
Once motion capture data is being streamed to the mocap_optitrack node, the mapping of trackables to ROS topics must be defined. A sample configuration file called "mocap.yaml" is included with the package, you can find it in the config directory of the package.
$ roscd mocap_optitrack/config $ nano mocap.yaml
