OptiTrack - Revision history

Mauferrari: /* OptiTrack - Sistema de Captura de Movimento (MoCAp - Motion Capture) */

2023-10-27T17:16:32Z

‎OptiTrack - Sistema de Captura de Movimento (MoCAp - Motion Capture)

Mauferrari: /* OptiTrack */

2023-10-27T17:16:20Z

‎OptiTrack

Mauferrari: add website link to manufacturer

2023-10-27T17:15:21Z

add website link to manufacturer

Rezeck: /* Enable Linux multicast */

2018-10-19T19:44:59Z

‎Enable Linux multicast

Rezeck: /* Enable Linux multicast */

2018-10-19T19:44:41Z

‎Enable Linux multicast

Rezeck at 12:31, 19 October 2018

2018-10-19T12:31:54Z

Rezeck: /* Configuring Tracking Tools */

2018-10-19T12:30:22Z

‎Configuring Tracking Tools

Rezeck at 21:25, 17 October 2018

2018-10-17T21:25:49Z

Rezeck: /* Configuring Tracking Tools */

2018-10-17T14:52:07Z

‎Configuring Tracking Tools

Rezeck: Created page with "= OptiTrack = TODO: Importar documentação == Tutorial OptiTrack ROS == This is an updated tutorial from the original ros wiki for [http://wiki.ros.org/mocap_optitrack Opt..."

2018-10-17T13:46:55Z

Created page with "= OptiTrack = TODO: Importar documentação == Tutorial OptiTrack ROS == This is an updated tutorial from the original ros wiki for [http://wiki.ros.org/mocap_optitrack Opt..."

New page

= OptiTrack =

TODO: Importar documentação

== Tutorial OptiTrack ROS ==
This is an updated tutorial from the original ros wiki for [http://wiki.ros.org/mocap_optitrack 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:

<pre class="bash">
$ git clone https://github.com/ros-drivers/mocap_optitrack.git
</pre>

To install Tracking Tools, see the instructions on the [http://www.naturalpoint.com/optitrack/downloads/tracking-tools.html 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.

@@ Line 1: / Line 1: @@
-= OptiTrack - Sistema de Captura de Movimento (MoCAp - Motion Capture) =
+= OptiTrack - Sistema de Captura de Movimento (MoCap - Motion Capture) =
 TODO: Importar documentação
- * Site Fabricante: https://optitrack.com/
+* Site Fabricante: https://optitrack.com/
 == Tutorial OptiTrack ROS ==

← Older revision		Revision as of 17:16, 27 October 2023
Line 1:		Line 1:
−	= OptiTrack =	+	= OptiTrack - Sistema de Captura de Movimento (MoCAp - Motion Capture) =

	TODO: Importar documentação		TODO: Importar documentação

@@ Line 54: / Line 54: @@
 </pre>
-To '''permanently enable''' the multicast feature, edit the /etc/sysctl.conf file and add the following line, or uncomment it, if it already exists, and change its default value.
+To '''permanently enable''' the multicast feature, edit the '''/etc/sysctl.conf''' file and add the following line, or uncomment it, if it already exists, and change its default value.
 <pre class="bash">

@@ Line 64: / Line 64: @@
 <pre class="bash">
 $ sudo service procps restart
 To check which multicast groups are already defined in a computer, execute the following command.
@@ Line 80: / Line 81: @@
 If everything is configured properly, you should get a reply from each computer in the common network at each iteration.
 === Configuring mocap_optitrack ===

@@ Line 43: / Line 43: @@
 For all computers, first check if the multicast feature is enabled using the following command.
-cat /proc/sys/net/ipv4/icmp_echo_ignore_broadcasts
+<pre class="bash">
 If this command returns 0, the multicast feature is enabled and you can go ahead to the next section. To temporary enable the multicast feature, execute the following command, however,
 when the computer restarts, this configuration will be lost.
-sudo sh -c "echo 0 >/proc/sys/net/ipv4/icmp_echo_ignore_broadcasts"
+<pre class="bash">
-To permanently enable the multicast feature, edit the /etc/sysctl.conf file and add the following line, or uncomment it, if it already exists, and change its default value.
+To '''permanently enable''' the multicast feature, edit the /etc/sysctl.conf file and add the following line, or uncomment it, if it already exists, and change its default value.
 net.ipv4.icmp_echo_ignore_broadcasts=0
 In order for the changes to take effect, execute the following command:
-sudo service procps restart
+<pre class="bash">
 To check which multicast groups are already defined in a computer, execute the following command.
-netstat -g
+<pre class="bash">
 This command will report all the IP addresses enabled for multicast for each of the network interfaces available, both for IPv4 and IPv6. The standard IP address for multicast is 224.0.0.1, that should appear on the list provided by the last command, and it is the one we will use.
@@ Line 66: / Line 75: @@
 At this point, to check whether the multicast feature is working or not, execute the following command, at any computer.
-ping 224.0.0.1
+<pre class="bash">
 If everything is configured properly, you should get a reply from each computer in the common network at each iteration.
 === Configuring mocap_optitrack ===

@@ Line 37: / Line 37: @@
 # 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
 .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 ===

@@ Line 19: / Line 19: @@
 <pre class="bash">
 $ git clone https://github.com/ros-drivers/mocap_optitrack.git
 </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.
 # 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.
+# 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

@@ Line 28: / Line 28: @@
 After installing Tracking Tools you will need to configure it for streaming of rigid bodies to the machine running the mocap_optitrack ROS node.
 <!--[[File:Camera 360 - partes.jpg|480px|Parts in the box]]-->
+# 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 machine running the mocap_optitrack node.
+# 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.