Vicon_ROS2_Bridge

1. Overview

Here are the ROS2 package to publish vicon server's track data(subject, segment and marker) realtime on Ubuntu. Node vicon_ros2_bridge depends on ViconDataStreamSDK_Linux64 (https://www.vicon.com/software/datastream-sdk/).

2. Packages

vicon_msgs: Marker.msg, Segment.msg,Subject.msg,ViconCaptureTree.msg

Vicon_ros2_bridge: topic name is "vicon_capture_tree"

3. How to run

First, configure the computer IP to 192.168.10.X network segment.

run

colcon build
. install/setup.bash
ros2 run vicon_ros2_bridge vicon_ros2_brige in dir Vicon_ROS2_Bridge

If return "Vicon Server connect successfully!" and show information of capture tree, means node open normal.

4. Dependencies

ROS2 foxy on Ubuntu20.04
vicon_msgs

5. Detials

hugh@destop:~/Vicon_ROS2_Bridge$ ros2 run vicon_ros2_bridge vicon_ros2_brige

Vicon Server connect successfully!
Segment lightweight data enable successfully!
********************Subjects and Markers information*********************
_______subject_______
the number of Subject is 2
NO: 0 Subject name is :object1
    _______segment_______
    the number of object1 Segment is :1
    NO: 0 Segment name is :object1
    _______marker_______
    the number of object1 marker is :3
    NO: 0 marker name is :object11
    NO: 1 marker name is :object12
    NO: 2 marker name is :object13

NO: 1 Subject name is :object2
    _______segment_______
    the number of object2 Segment is :1
    NO: 0 Segment name is :object2
    _______marker_______
    the number of object2 marker is :3
    NO: 0 marker name is :object21
    NO: 1 marker name is :object22
    NO: 2 marker name is :object23

***********************************************************************

vicon traker software

plotjugger