Mocap Bridge package

The launchers included in this package are prepared to stablish communication with a mocap server (VICON, Optitrack) just for test the connection or use them directly as bridge in experiments to send the position received to the autopilot.

The protocol used for this communication is VRPN (Virtual-Reality Peripheral Network)

Dependencies

Before to use any of this launchers is required to have installed the ROS client node to stablish VRPN connections vrpn_client_ros

$ sudo apt-get install ros-<distro>-vrpn-client-ros

How to use it

In order to get information from a mocap server you can use the Optitrack test launcher for a first connection test or include the following node in your own launcher:

  <node name="mocap_client" pkg="vrpn_client_ros" type="vrpn_client_node" output="screen">
    <rosparam subst_value="true">
        server: tcp://<ipServer>
        port: <port>
        update_frequency: 100.0
        frame_id: mocap
        trackers: 
        <listOfTrackers>
     </rosparam>
  </node>

port is 3883 by default

listOfTrackers is the list of object names desired. The names are those with which they have been named in the tracking camera program