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vrpn_mocap package from vrpn_mocap repo

vrpn_mocap

Package Summary

Tags No category tags.
Version 1.0.3
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/alvinsunyixiao/vrpn_mocap.git
VCS Type git
VCS Version main
Last Updated 2022-09-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2

Additional Links

No additional links.

Maintainers

  • Alvin Sun

Authors

No additional authors.

vrpn_mocap

foxy humble rolling

ROS2 VRPN client built pirmarily to interface with motion capture devices such as VICON and OptiTrack. A detailed list of supported hardware can be found on vrpn wiki.

Installation

Install From Binary Release

  • [ ] TODO

Build From Source

  1. Clone this repo into your ROS2 workspace
  2. Run rosdep install --from-paths src -y --ignore-src to install dependencies
  3. Run colcon build
  4. Your usual ROS2 routines: source install/setup.zsh, etc.

Usage

Launch Default Configuration from Command Line

Run the following command,

ros2 launch client.launch.yaml server:=<server ip> port:=<port>

replacing <server ip> and <port> with your VRPN server ip and port, e.g.

ros2 launch client.launch.yaml server:=192.168.0.4 port:=3883

Then with ros2 topic list, you should be able to see the following topics

/vrpn_mocap/client_node/<tracker_name>/pose
/vrpn_mocap/client_node/<tracker_name>/twist # optional when mocap reports velocity data
/vrpn_mocap/client_node/<tracker_name>/accel # optional when mocap reports acceleration data

where <tracker_name> is usually the name of your tracked objects.

Customized Launch

Check out the default parameter file and launch file. You can then write your own launch file with custom configurations.

Parameters

  • server (string) -- server name, either ip address or domain name (default: "localhost")
  • port (int) -- VRPN server port (default: 3883)
  • frame_id (string) -- frame name of the fixed world frame (default: "world")
  • update_freq (double) -- frequency of the motion capture data publisher (default: 100.)
  • refresh_freq (double) -- frequency of dynamic adding new tracked objects (default: 1.)
  • multi_sensor (bool) -- set to true if there are more than one sensor (frame) reporting on the same object (default: false)

Acknowledgement

Some ideas are borrowed from the well known vrpn_client_ros -- a ROS1 package for interfacing with VRPN devices. I thank the authors and developers for delivering and maintaining the original implementation.

CHANGELOG

Changelog for package vrpn_mocap

1.0.3 (2022-08-30)

  • fix header typo
  • Contributors: Alvin Sun

1.0.2 (2022-08-30)

  • fix include order to work with both rolling and foxy
  • Contributors: Alvin Sun

1.0.1 (2022-08-30)

  • Fix lint errors
  • Contributors: Alvin Sun

1.0.0 (2022-07-04)

  • Initial public release of vrpn_mocap
  • Contributors: Alvin Sun

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vrpn_mocap at answers.ros.org

vrpn_mocap package from vrpn_mocap repo

vrpn_mocap

Package Summary

Tags No category tags.
Version 1.0.3
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/alvinsunyixiao/vrpn_mocap.git
VCS Type git
VCS Version main
Last Updated 2022-09-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2

Additional Links

No additional links.

Maintainers

  • Alvin Sun

Authors

No additional authors.

vrpn_mocap

foxy humble rolling

ROS2 VRPN client built pirmarily to interface with motion capture devices such as VICON and OptiTrack. A detailed list of supported hardware can be found on vrpn wiki.

Installation

Install From Binary Release

  • [ ] TODO

Build From Source

  1. Clone this repo into your ROS2 workspace
  2. Run rosdep install --from-paths src -y --ignore-src to install dependencies
  3. Run colcon build
  4. Your usual ROS2 routines: source install/setup.zsh, etc.

Usage

Launch Default Configuration from Command Line

Run the following command,

ros2 launch client.launch.yaml server:=<server ip> port:=<port>

replacing <server ip> and <port> with your VRPN server ip and port, e.g.

ros2 launch client.launch.yaml server:=192.168.0.4 port:=3883

Then with ros2 topic list, you should be able to see the following topics

/vrpn_mocap/client_node/<tracker_name>/pose
/vrpn_mocap/client_node/<tracker_name>/twist # optional when mocap reports velocity data
/vrpn_mocap/client_node/<tracker_name>/accel # optional when mocap reports acceleration data

where <tracker_name> is usually the name of your tracked objects.

Customized Launch

Check out the default parameter file and launch file. You can then write your own launch file with custom configurations.

Parameters

  • server (string) -- server name, either ip address or domain name (default: "localhost")
  • port (int) -- VRPN server port (default: 3883)
  • frame_id (string) -- frame name of the fixed world frame (default: "world")
  • update_freq (double) -- frequency of the motion capture data publisher (default: 100.)
  • refresh_freq (double) -- frequency of dynamic adding new tracked objects (default: 1.)
  • multi_sensor (bool) -- set to true if there are more than one sensor (frame) reporting on the same object (default: false)

Acknowledgement

Some ideas are borrowed from the well known vrpn_client_ros -- a ROS1 package for interfacing with VRPN devices. I thank the authors and developers for delivering and maintaining the original implementation.

CHANGELOG

Changelog for package vrpn_mocap

1.0.3 (2022-08-30)

  • fix header typo
  • Contributors: Alvin Sun

1.0.2 (2022-08-30)

  • fix include order to work with both rolling and foxy
  • Contributors: Alvin Sun

1.0.1 (2022-08-30)

  • Fix lint errors
  • Contributors: Alvin Sun

1.0.0 (2022-07-04)

  • Initial public release of vrpn_mocap
  • Contributors: Alvin Sun

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged vrpn_mocap at answers.ros.org

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