ROS OptiTrack Client for Motive 2

Usage

In most cases, roslaunch optitrack optitrack.launch should be sufficient to start publishing geometry_msgs/PoseStamped topics for each rigid body registered in Motive. Note that this launch file expects that the Motive software is running on a computer with IP address 192.168.1.12 and that this package is running on a computer (which is connected to the same network Motive is running on) with IP address 192.168.119. These and other settings (like multicast group IP and port numbers) can be specified in the launch file.

Network Setup

OptiTrack broadcasts (using multicast) packets over the network using UDP. This OptiTrack ROS node must have access to this subnet (e.g., 192.168.1.x) by connecting an available NIC into the switch and setting its static IP address.

Using netplan, the file /etc/netplan/02-raven-static-vicon.yaml has

network:
  version: 2
  ethernets:
    enp4s0:
      dhcp4: false
      addresses:
        - 192.168.0.19/24
      gateway4: 192.168.0.1
      nameservers:
        addresses: [8.8.8.8, 8.8.4.4]
    enp0s31f6:
      link-local: [ipv4]
      dhcp4: false
      addresses:
        - 192.168.1.119/24

Verify that you are properly connected to the subnet and that OptiTrack data is streaming using Wireshark (by default, data packets are on port 1511).