OptiTrack to ROS Communication

This repository allows for data communication between OptiTrack System (Motive software), ROS, and UDP.

Set-up:

1. Install VRPN Package into the ROS environment. Run the following command in your terminal:

sudo apt install ros-$(rosversion -d)-vrpn-client-ros

2. Import the optitrack_ros_communication package into your catkin workspace and build it:

cd CATKIN_WORKSPACE_NAME/src
git clone https://github.com/IE-Robotics-Lab/optitrack_ros_communication.git
cd CATKIN_WORKSPACE_NAME
catkin_build

Note: Replace CATKIN_WORKSPACE_NAME with your catkin workspace directory name

Run

Once the set-up is completed, simply launch the file optitrack_nodes.launch using the roslaunch command with the desired parameters (or modify the default values of the launch file). Some examples are provided below:

roslaunch optitrack_ros_communication optitrack_nodes.launch

roslaunch optitrack_ros_communication optitrack_nodes.launch number_of_nodes:=10

roslaunch optitrack_ros_communication optitrack_nodes.launch server:=10.205.3.3 number_of_nodes:=2 ip:=10.205.3.224

Note: The number of nodes refers to the amount of rigid body markers you want to transmit.

If UDP transmition is not required, you can simply launch the file optitrack_vrpn_client.launch:

roslaunch optitrack_ros_communication optitrack_vrpn_client.launch