Tutorials

Optitrack system

  1. Start the motive software

  2. Connect to the same network of mocap system

  3. Copy the server address of the mocap system and your ip address then paste it in the following file:

mocap_optitrack_driver/config/mocap_optritrack_driver_params.yaml

mocap_optitrack_driver_node:
    ros__parameters:
      connection_type: "Unicast" # Unicast / Multicast
      server_address: "198.17.0.120"
      local_address: "198.17.0.48"
      multicast_address: "239.255.42.99"
      server_command_port: 1510
      server_data_port: 1511
      ....

  1. Launch mocap otitrack driver

ros2 launch mocap_optitrack_driver optitrack2.launch.py

  1. Activate the mocap optitrack driver node

ros2 lifecycle set /mocap_optitrack_driver_node activate

  1. Create markers in Rviz

mocap4ros2_ws$ source install/setup.bash
ros2 run mocap_marker_viz mocap_marker_viz

  1. Run Rviz2

rviz2 rviz2

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