Installation

MOCAP4ROS2 2.0 supports every active ROS 2 distribution from a single code base.

Package	Humble	Jazzy	Kilted	Lyrical	Rolling
Core, tools, simulated system	binary	binary	binary	binary	source
OptiTrack, Vicon, Qualisys drivers	binary	binary	binary	binary	source
Gazebo plugin	—	binary	binary	binary	source

Binary packages

$ sudo apt install ros-$ROS_DISTRO-mocap4r2-control ros-$ROS_DISTRO-mocap4r2-tools \
    ros-$ROS_DISTRO-mocap4r2-sim-driver ros-$ROS_DISTRO-mocap4r2-marker-viz

and the driver of your system:

$ sudo apt install ros-$ROS_DISTRO-mocap4r2-optitrack-driver   # OptiTrack (Motive)
$ sudo apt install ros-$ROS_DISTRO-mocap4r2-vicon-driver       # Vicon
$ sudo apt install ros-$ROS_DISTRO-mocap4r2-qualisys-driver    # Qualisys (QTM)
$ sudo apt install ros-$ROS_DISTRO-mocap4r2-gz-plugin          # Gazebo (Jazzy and newer)

Ground truth and human motion tools:

$ sudo apt install ros-$ROS_DISTRO-mocap4r2-robot-gt ros-$ROS_DISTRO-mocap4r2-gt-tools \
    ros-$ROS_DISTRO-mocap4r2-motion-tools

From source

$ mkdir -p ~/mocap_ws/src && cd ~/mocap_ws/src
$ git clone https://github.com/MOCAP4ROS2-Project/mocap4r2_interfaces.git
$ git clone https://github.com/MOCAP4ROS2-Project/mocap4r2.git
$ git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_optitrack.git   # your system
$ cd ~/mocap_ws
$ rosdep install --from-paths src --ignore-src -y
$ colcon build --symlink-install
$ source install/setup.bash

The Vicon and Qualisys SDKs are included in their repositories (both are MIT licensed). For OptiTrack, see OptiTrack (Motive) to choose between the open NatNet implementation (included) and the official NatNet SDK (installed separately).

Check the installation

$ ros2 mocap4r2 --help
$ ros2 mocap4r2 doctor