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Tracking Daisy

In this tutorial we use the OptiTrack system installed in our lab and the ROS driver mocap_optitrack to get the very accurate pose of Daisy.

Installation

Install mocap_optitrack (OptiTrack driver for ROS) on your notebook connected to Daisy's network.

cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/mocap_optitrack.git
cd ~/catkin_ws
catkin_make

Setup

mocap_optitrack

Edit following settings in the source directory of mocap_optitrack downloaded before.

File: mocap_optitrack/config/mocap.yaml

#
# Definition of all trackable objects
# Identifier corresponds to Trackable ID set in Tracking Tools
#
rigid_bodies:
    '1':
        pose: daisy/pose
        pose2d: daisy/ground_pose
        child_frame_id: daisy/base_link
        parent_frame_id: world
optitrack_config:
        multicast_address: 224.0.0.1

Usage

OptiTrack

  • Get the OptiTrack hardware key (Denise or other assistant).
  • Start the PC and run Motive.
  • Open the Project daisy.ttf (loaded by default).
  • Check IP is set to Daisy's network.

ROS

  • On your notebook start mocap: 
    roslaunch mocap_optitrack mocap.launch
  • By executing rostopic list you will find the topic for the pose of Daisy in the world frame.

References

2017-12-07 | Denise Ratasich