ros_vicon_workshop

Basic Vicon-ROS tutorial (Python/C++)

Dependencies

Install ROS using this link: ROS official site

$ sudo apt-get install python3-pip vim
$ sudo pip3 install rospkg

Installation

$ mkdir catkin_vicon
$ cd catkin_vicon
$ mkdir src
$ cd src
$ git clone https://github.com/ethz-asl/vicon_bridge.git
$ git clone https://github.com/TOTON95/ros_vicon_workshop.git
$ cd ros_vicon_workshop
$ cd scripts
$ chmod +x vicon_python.py
$ cd ../../../

At catkin_vicon directory run:

$ catkin_make

Configuration

$ rosed vicon_bridge vicon.launch 

Modify these lines with the IP address of the vicon machine (PC with Vicon tracker):

<param name="datastream_hostport" value="YOUR_IP_HERE" type="str" />

And comment this line (enclose it with <!--- and -->:

<!--param name="datastream_hostport" value="vicon:801" type="str" /-->

Execution

In one terminal type the following (with catkin_vicon as root directory):

$ source devel/setup.bash
$ roslaunch vicon_bridge vicon.launch

In another terminal type (with catkin_vicon as root directory):

$ source devel/setup.bash

Python

$ rosrun vicon_workshop vicon_python.py

Cpp

$ rosrun vicon_workshop vicon_workshop_node