Vicon (Nexus, Tracker, Shogun)#

mocap4r2_vicon_driver uses the Vicon DataStream SDK 1.13, whose source code (MIT license) is included in the package: nothing else needs to be installed, on x86_64 or arm64.

$ ros2 launch mocap4r2_vicon_driver vicon_driver.launch.yaml params_file:=my_vicon.yaml
$ ros2 mocap4r2 start vicon_driver

Enable the DataStream in the Vicon software (it listens on port 801 by default).

Parameters#

Parameter

Default

Meaning

host_name

192.168.10.1:801

Vicon computer and DataStream port

timeout

2.0

seconds to connect

compensate_latency

true

stamp = reception time − total latency reported by the DataStream

Data#

  • Every subject is published as a rigid body: the pose of its root segment, its own markers (named subject:marker) and tracking_valid: false when the root segment is occluded.

  • Subjects with more than one segment are also published as skeletons, with the hierarchy of segments.

  • Unlabeled markers are published with id: -1 and no name.

  • Frames are read in pre-fetch mode with a buffer of one frame (always the newest), and frame_number is Vicon’s: gaps are dropped frames.