mocap_optitrack

This page explains how to setup a connection between the so-called ROS computer (your laptop) and the OptiTrack computer (the desktop receiving data from the OptiTrack cameras).

Calibration (optional)

Log into the OptiTrack computer
Start Motive
Select "perform new calibration"
Camera system calibration:
- Making, wandering, calibration results, ground plane and origin ...
- (TODO: A picture showing our definition of the origin)
Save the calibration file

Data streaming

Log into the OptiTrack computer
Start Motive
Create a new project or load a prior project
Place the objects with markers attached in the workspace
Define rigid objects within the workspace:
- Select desired markers, right click and select "Create rigid body"
- Assign a "User ID": for each object, which should match the configuration in the OptiTrack ROS package (described below)
In the streaming panel:
- Make sure the "Broadcast Frame Data" is selected
- Make sure the type "MultiCast" is selected in Advanced Network Settings

Note: if you cannot find those panels, click "View" in the menu bar of Motive, and choose "Project", "Data streaming". Then you should see those panels.

Install the OptiTrack ROS package

Log into the ROS computer

Clone and build this mocap_optitrack ROS package, e.g.:

cd catkin_ws/src
git clone -b dcsc_pose_stamped git@github.com:tud-amr/mocap_optitrack.git
cd ..
catkin build mocap_optitrack
source devel/setup.bash

Note: the newest version of the original mocap_optitrack ROS package has some unsolved issues. See mocap_optitrack ROS wiki page for more information.

Read mocap data

Log into the ROS computer
Check if the ROS computer is connected to the ROS network (WLAN connection is preferable)

Run the launch file, e.g.:

roslaunch mocap_optitrack hovergames.launch

You can check if the data streaming is successful using the rostopic commands:
```
rostopic list
rostopic echo TOPIC_NAME
```