/optitrack_bridge

Primary LanguageC++

optitrack_bridge

This package converts Optitrack object pose to ROS message.

Tested in [ROS Melodic, Ubuntu 18.04], [ROS Kinetic, Ubuntu 16.04]

1.Note

This code is for C++14, Motive 2.2, NatNet 3.1.

This code is based on the NatNet 3.1 SDK (https://optitrack.com/products/natnet-sdk/)

2.Installation

cd ~/catkin/src (or your workspace)

git clone https://github.com/qwerty35/optitrack_bridge.git

cd .. && catkin_make (or catkin build optitrack_bridge)

3.Usage

roslaunch optitrack_bridge optitrack.launch

4.Parameters

"frame_id": set frame id of message.

"show_latency": print latency on the screen.

"publish_with_twist":

  • True - it returns object's pose+twist as nav_msgs::odometry message. The twist of object is computed by linear Kalman filter

  • False - it returns object's pose as geometry::poseStamped message.

"publish_labeled_marker_pose_array": if true, publish pose of object's markers as geometry::poseArray

"publish_unlabeled_marker_pose_array": if true, publish unlabeled markers as geometry::poseArray

(If labeled or unlabeled markers are not published, check Motive -> Streaming Pane -> Labeled or Unlabeld Markers)