ROS Package for Ascension Trakstar
First, set up the TrakStar for use on linux systems (this is separate to ROS). Follow the installation steps as described here [ I recommend you just clone the repo to your home directory '~/'], but follow the instructions below when you get to the section "*libusb configuration": https://github.com/ChristophJud/ATC3DGTracker
Device permissions: Create a file in /etc/udev/rules.d/ called trakstar.rules
sudo gedit /etc/udev/rules.d/trakstar.rulesand then put this in there:
SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="1005", MODE="0666", GROUP="plugdev" Save and exit the text editor, and then enter this in the terminal:
sudo udevadm control --reload-rules && udevadm triggerThen unplug the TrakStar, power it off and then on again, plug it in, and run atcTest - you should be able to get a stream of data showing in the console from the TrakStar.
After setup to run the node, use
rosrun trakstar_node trakstarto launch the node where each sensor connected will be published in an array (msg type geometry_msg::PoseArray)
/trakstar/trakstar_data