Author: Eric Cristofalo
Affiliation: Stanford University
Date Created: 2017/06/08; Date Last Modified: 2017/08/18
Tested on: ROS Kinetic
Standard ROS package for publishing data from Optitrack: http://wiki.ros.org/mocap_optitrack
- mocap_datapackets.cpp
- Source file that reads raw optitrack data. We have modified this file to make initial coordinate frame transformations that work with our system.
- mocap.yaml
- Configuration file that defines the rigib body topics to be defined by mocap_otitrack. If you are using mutiple rigid bodies, uncomment sections of this configuration file
This package contains an interfacing node and launch file for the mocap_optitrack package. The idea is to use this package to communicate transform the original data from mocap_optitrack into the coordinate frames used in lab.
- mocap_interface.cpp
- Reads raw Optitrack data and outputs 6DOF rigid body pose in geometry_msgs/Twist for convenience
- COORDINATE_FRAME_INDEX: coordinate frame index (0 for native mocap_optitrack output)
- display_data_flag: integer indicator for printing data during testing (1 displays data)
- mocap_interface_odom.cpp
- Reads raw Optitrack data and outputs a nav_msgs/Odometry and geometry_msgs/accel messages for 6DOF {position and velocity}, and acceleration estimated from raw Optitrack data
- display_data_flag: integer indicator for printing data during testing (1 displays data)
- position_covariance: double for position covariance
- orientation_covariance: double for orientation covariance
- velocity_covariance: double for velocity covariance
- rotation_rate_covariance: double for rotation rate covariance
- mocap.yaml
- Configuration file that defines the rigib body topics to be defined by mocap_otitrack. If you are using mutiple rigid bodies, uncomment sections of this configuration file
- mocap.launch
- Generic setup launch file that contains all available ROS parameters. Feel free to copy and simplify this file for your project's launch file.