Build and Install

Create the src directory if it doesn’t already exist.

mocap4r2_ws$ mkdir src && cd src

OptiTrack System

To test the OptiTrack system, follow these steps:

Note

The OptiTrack drivers for ROS2 are based on the NatNet SDK 3.1.0. When building the mocap4ros2_optitrack package, the SDK is automatically downloaded and installed.

Additionally, this package depends on two repositories from the MOCAP4ROS2 project: - [mocap_msgs](https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs) - [mocap4r2_control](https://github.com/MOCAP4ROS2-Project/mocap)

1. Clone the required repositories:

mocap4r2_ws/src$ git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_optitrack.git
mocap4r2_ws/src$ git clone https://github.com/MOCAP4ROS2-Project/mocap.git
mocap4r2_ws/src$ git clone https://github.com/MOCAP4ROS2-Project/mocap_msgs.git

2. Manage ROS2 dependencies:

mocap4r2_ws/src$ vcs import < mocap/dependency_repos.repos
sudo rosdep init # May not be needed if already done
rosdep update
mocap4r2_ws$ cd .. && rosdep install --from-paths src --ignore-src -r -y

3. Build the workspace:

cd ~/mocap4r2_ws/
mocap4r2_ws$ colcon build --symlink-install

Configuration

To configure the system, check and modify the file config/mocap4ros2_optitrack_driver_params.yaml. Please remember to update the host_name parameter to match the IP address and port of the machine running the OptiTrack system.

Launching

After sourcing the workspace, you can launch the OptiTrack driver with:

ros2 launch mocap4r2_optitrack_driver optitrack2.launch.py

Since the OptiTrack driver is a lifecycle node, you’ll need to activate it after launching:

ros2 lifecycle set /mocap4r2_optitrack_driver_node activate

Visualization

To visualize the data, you can use the rviz2 tool:

ros2 launch mocap4r2_marker_viz mocap4r2_marker_viz.launch.py mocap4r2_system:=optitrack

Vicon System

To test the Vicon system, follow these steps:

Note

The Vicon drivers for ROS2 are based on Vicon DataStream SDK 1.11.0. When building the mocap4r2_vicon_driver, the SDK is automatically downloaded and installed.

Additionally, this package depends on two repositories from the MOCAP4ROS2 project: - [mocap4r2_msgs](https://github.com/MOCAP4ROS2-Project/mocap4r2_msgs) - [mocap4r2_control](https://github.com/MOCAP4ROS2-Project/mocap)

1. Install the dependencies:

sudo apt-get install wget git p7zip-full

2. Clone the required repositories:

mkdir -p ~/mocap4r2_ws/src
cd ~/mocap4r2_ws/src
git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_vicon.git -b rolling
cp mocap4ros2_vicon/mocap4ros2.rosinstall .rosinstall
wstool update

3. Manage ROS2 dependencies:

mocap4r2_ws$ sudo rosdep init  # May not be needed if already done
rosdep update
rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

cd ~/mocap4r2_ws/
colcon build --symlink-install --packages-up-to mocap4r2_vicon_driver

Configuration

To configure the system, check the file config/mocap4r2_vicon_driver_params.yaml. Be sure to update the host_name parameter to match the IP address and port of the machine running the Vicon tracker.

Launching

After sourcing the workspace, you can launch the Vicon driver with:

ros2 launch mocap4r2_vicon_driver mocap4r2_vicon_driver_launch.py

Since the Vicon driver is a lifecycle node, you’ll need to activate it after launching:

ros2 lifecycle set /mocap4r2_vicon_driver_node activate

Visualization

To visualize the data, you can use the rviz2 tool: .. code-block:: console

ros2 launch mocap4r2_marker_viz mocap4r2_marker_viz.launch.py mocap4r2_system:=vicon