ais_bonn_drivers: mocap_optitrack | roomrider_driver | sicks300

Package Summary

This package contains a node that translates motion capture data from an OptiTrack rig to tf transforms. The node receives the binary packages that are streamed by the Arena software, decodes them and broadcasts the poses of rigid bodies as tf transforms.

Currently, this node supports the NatNet streaming protocol v1.4.

Copyright (c) 2010, University of Bonn, Computer Science Institute VI
All rights reserved.

• Author: Kathrin Gräve/graeve@ais.uni-bonn.de
• License: BSD
• Repository: ais-bonn-ros-pkg
• Source: svn http://ais-bonn-ros-pkg.googlecode.com/svn/trunk/stacks/ais_bonn_drivers/mocap_optitrack

Getting started

1. Set up streaming in Arena as shown on the following screenshot:
   
   In particular, make sure you have entered the correct ip address and activated the rigid body data checkbox on the 'Other' tab in Arena's settings pane.

2. To start streaming, hit the 'Stream frames' button on the same tab and activate the cameras by clicking the 'Play' button on the 'Capture' or 'Edit' tab near the bottom of the window.

3. Launch the mocap_node using the provided launch file.
   

    roslaunch mocap_optitrack mocap.launch

   This will set up the necessary parameter on the parameter server from the YAML file in the config folder and launch the node with superuser privileges. These are required because access to the default port 1001 is prohibited for non-root users on Linux.

Parameters

~mocap_model

• Determines the mapping of rigid body ids to rigid body names. Possible values are:

  • SKELETON_WITH_TOES

  • SKELETON_WITHOUT_TOES

  • OBJECT

  Default value: SKELETON_WITHOUT_TOES

The network settings are predetermined by Arena and may be changed in the source code if necessary.

Published transforms

For every rigid body of the configured skeleton, transform information relative to the base link is published. The names of the transforms depend on the configured skeleton.

Further reading

The specifications of the NatNet streaming protocol may be downloaded from the Natural Point website