qualisys_ros

ROS Qualisys Package

Installation

This is a standard ROS1 packages. We plan to support ROS2 by end of Q1 2021.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone git@github.com:jgoppert/qualisys_ros
cd ~/catkin_ws
catkin init
catkin build

Usage

Live

The first launch script starts a vehicle for live testing which routes motion capture packets via mavros to a vehicle for navigtion or sensor emulation.

. ./devel/setup.bash
roslaunch qualisys_ros px4_live.launch

Simulation

The second launch script starts a simulated world in Gazebo which contains a virtual camera that is positioned using Qualisys mocap data. A bag file of Qualisys data for offline testing is included in this repository.

. ./devel/setup.bash
roslaunch qualisys_ros bag.launch

Web Video Server

This starts a web video server to stream images from the cameras to a browser.

See Ros Web Video Server Wiki

sudo apt install ros-noetic-web-video-server
. ./devel/setup.bash
rosrun web_video_server web_video_server

Now try going to your browser to view the video

http://localhost:8080/stream?topic=/virtual_cam/usb_cam/image_raw

Note localhost should be changed to the ip address on the local network of the simulation computer if viewing from a phone etc.