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RuteLuz edited this page Dec 17, 2019 · 11 revisions

Wiki Mocap

On your catkin workspace src folder:

git clone https://github.com/ros-drivers/mocap_optitrack.git
cd mocap_optitrack
catkin build --this
source ~/.bashrc
vim /src/mocap_optitrack/config/mocap.yaml

You should have the following:

#
# Definition of all trackable objects
# Identifier corresponds to Trackable ID set in Tracking Tools
#
rigid_bodies:
    '1':
        pose: Robot_1/pose
        pose2d: Robot_1/ground_pose
        child_frame_id: Robot_1/base_link
        parent_frame_id: world
optitrack_config:
        multicast_address: 224.0.0.1
        command_port: 1510
        data_port: 1511

Launch Mocap:

roslaunch mocap_optitrack mocap.launch

Wiki Mocap with your ROBOT

Make sure ROBOT is connected to the Wifi Network: ROAH24

Make sure your PC is connected to the Wifi Network: ROAH24

Run the following command to connect yourself to the robot with the static IP:

export ROS_MASTER_URI=http://<ROBOT_IP>:11311

rostopic list

You should have topics from both /mocap_optitrack and /<ROBOT>

Wiki Motive-v2

  1. You should use the arrow with 5 markers.
  2. Cover any unwanted markers present in the environment (mbot has markers on the camera)
  3. Select the markers in Motive-v2 (some extra markers might be detected due errors in reflections)
  4. right click (mouse) Select as Rigid Body
  5. Move it around and see the corresponding movement.
  6. Place the robot in the origin of the testbed (marked on the floor)
  7. Reset the frame of the rigid body to correct the orientation (right-click on the Rigid Body center -> Reset Pivot)
  8. Ensure the following settings:

(Menu: View -> Data Streaming Pane)

Optitrack Streaming Engine

(Menu: View -> Assets Pane; View -> Rigid Body Pane)

Rigid Body

  1. launch mocap_optitrack package on your PC and check if you can receive the values in the /mocap_optitrack topics.
  2. while moving the robot ensure that the 5 markers are visible - shown in the left/bottom corner of the Perspective View (certain areas of the room might not visible to the mocap cameras)

Acknowledgements

Special thanks to the students Pedro Santos, João Pinho, João Freitas and João Revés for developing and sharing the original version of this wiki page.

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