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msl_ros_common

Author: Eric Cristofalo

Affiliation: Stanford University

Date Created: 2017/06/08; Date Last Modified: 2017/08/18

Tested on: ROS Kinetic

mocap_optitrack

Standard ROS package for publishing data from Optitrack: http://wiki.ros.org/mocap_optitrack

Modified Files:

  • 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

mocap_interface

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.

Requirements

Files

  • 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.

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