mocap_optitrack

This page explains how to setup a connection between the so-called ROS computer (your laptop) and the OptiTrack computer (the desktop receiving data from the OptiTrack cameras).

Calibration (optional)

• Log into the OptiTrack computer
• Start Motive
• Select "perform new calibration"
• Camera system calibration:
  • Making, wandering, calibration results, ground plane and origin ...
  • (TODO: A picture showing our definition of the origin)
• Save the calibration file

Data streaming

• Log into the OptiTrack computer
• Start Motive
• Create a new project or load a prior project
• Place the objects with markers attached in the workspace
• Define rigid objects within the workspace:
  • Select desired markers, right click and select "Create rigid body"
  • Assign a "User ID": for each object, which should match the configuration in the OptiTrack ROS package (described below)
• In the streaming panel:
  • Make sure the "Broadcast Frame Data" is selected
  • Make sure the type "MultiCast" is selected in Advanced Network Settings

Note: if you cannot find those panels, click "View" in the menu bar of Motive, and choose "Project", "Data streaming". Then you should see those panels.

Install the OptiTrack ROS package

• Log into the ROS computer
• Clone and build this mocap_optitrack ROS package, e.g.:

  cd catkin_ws/src
  git clone -b dcsc_pose_stamped [email protected]:tud-amr/mocap_optitrack.git
  cd ..
  catkin build mocap_optitrack
  source devel/setup.bash
  

Note: the newest version of the original mocap_optitrack ROS package has some unsolved issues. See mocap_optitrack ROS wiki page for more information.

Read mocap data

• Log into the ROS computer
• Check if the ROS computer is connected to the ROS network (WLAN connection is preferable)
• Run the launch file, e.g.:

  roslaunch mocap_optitrack hovergames.launch
  

• You can check if the data streaming is successful using the rostopic commands:

  rostopic list
  rostopic echo TOPIC_NAME