optitrack

ROS package developed by the Control Robotics Intelligence Group from the Nanyang Technological University, Singapore. This package allows to receive in ROS the rigid bodies streamed by Motive 1.7.

The hydro-devel branch is compatible with both ROS Hydro and Indigo.

Our setup

• Optitrack with six Prime 17W cameras.
• Motive 1.7.5 running on Windows 7, 64 bits.
• ROS Hydro (Ubuntu 12.04, 64 bits) or ROS Indigo (Ubuntu 14.04, 64 bits)

Maintainer: Francisco Suárez Ruiz, fsuarez6.github.io

Documentation

• See the installation instructions below.
• Throughout the various files in this repository.

Build Status

Installation

Ubuntu 12.04 (Precise)

1. Install ROS Hydro (Base Install Recommended)

# Setup your sources.list
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
# Set up your keys
$ wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
# Install
$ sudo apt-get update
$ sudo apt-get install ros-hydro-ros-base

2. Install the python-optrix library:

$ pip install optirx --user

Repository Installation

Go to your ROS working directory. e.g.

$ cd ~/catkin_ws/src

Clone the required repositories:

$ git clone https://github.com/crigroup/optitrack.git -b hydro-devel
$ git clone https://github.com/gt-ros-pkg/hrl-kdl.git -b hydro

Install any missing dependencies using rosdep:

$ rosdep update
$ rosdep install --from-paths . --ignore-src --rosdistro hydro -y

Now compile your ROS workspace. e.g.

$ cd ~/catkin_ws && catkin_make

Ubuntu 14.04 (Trusty)

1. Install ROS Indigo (Base Install Recommended)

# Setup your sources.list
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# Set up your keys
$ sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net:80 --recv-key 5523BAEEB01FA116
# Install
$ sudo apt-get update
$ sudo apt-get install ros-indigo-ros-base

2. Install the python-optrix library:

$ pip install optirx --user

Repository Installation

Go to your ROS working directory. e.g.

$ cd ~/catkin_ws/src

Clone the required repositories:

$ git clone https://github.com/crigroup/optitrack.git -b hydro-devel
$ git clone https://github.com/gt-ros-pkg/hrl-kdl.git -b indigo-devel

Install any missing dependencies using rosdep:

$ rosdep update
$ rosdep install --from-paths . --ignore-src --rosdistro indigo -y

Now compile your ROS workspace. e.g.

$ cd ~/catkin_ws && catkin_make

Testing the Installation

Be sure to always source the appropriate ROS setup file, e.g:

$ source ~/catkin_ws/devel/setup.bash

You might want to add that line to your ~/.bashrc

Try the following commands (one per terminal):

$ roslaunch optitrack optitrack_pipeline.launch iface:=eth1
$ rostopic echo /optitrack/rigid_bodies

Changelog

0.1.0 (2015-10-20)

• Initial Release