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Package Summary

Documented

ROS node which is a client for Virtual Reality Peripheral Networks and publishes a TF frame and TransformStamped for tracked bodies. Tested with the Optitrak motion capture system from NaturalPoint.

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Demonstration Video

Hardware Setup

Installation

Running the code

  1. Run node from command line to track an object whose name is Trackable1:
    $ rosrun ros_vrpn_client ros_vrpn_client __name:=Trackable1 _vrpn_server_ip:=192.168.2.110
  2. visualize in rviz:
    $ roslaunch ros_vrpn_client demo.launch
  3. check rate at which object is being tracked:
     $ rostopic hz /Trackable1/pose
    • We can track objects at 100Hz.

TF coordinate frames

  1. /optitrak
    • world frame that we will use.
    • X axis is along the x axis of the clibration pattern.
    • Z axis is vertically up.
  2. Every tracked object has a coord frame whose TF name is the name of the ros node (given from the launch file or command line).
    • Hitting "Reset To Current Orientation" in the Tracking Tools software (Trackable properties) aligns the object coord frame with the /optitrak frame.

Nodes

ros_vrpn_client


2017-10-21 13:11