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starmac_vicon: vicon_mocap

Package Summary

Documented

vicon_mocap

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Other Vicon Packages

There are some other packages with different capabilities; it is recommended that you also consider these in light of your own project's needs:

ROS API

vicon_recv_direct

Driver for using data from VICON motion capture system. This driver was geared initially towards tracking a single rigid body (one VICON 'Segment'), but has been extended to include tracking of individual marker locations. It requires the VICON DataStream SDK library to be installed.

Published Topics

~output (geometry_msgs/TransformStamped) ~markers (vicon_mocap/Markers)

Services

~grab_vicon_pose (vicon_mocap/viconGrabPose)

Parameters

~stream_mode (str, default: "ClientPullPreFetch") ~datastream_hostport (str, default: "") ~subject_name (str, default: "") ~segment_name (str, default: "") ~update_rate (double, default: 100) ~vicon_capture_rate (double, default: 50) ~tf_ref_frame_id (str, default: "/enu") ~tf_tracked_frame_id (str, default: "/pelican1/flyer_vicon") ~time_bias_reset (double, default: 0.05) ~enable_tf_broadcast (bool, default: false)

Provided tf Transforms

<tf_ref_frame_id><tf_tracked_frame_id>


2017-09-16 13:46