Difference between revisions of "Optitrack"
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| − | = | + | = Optitrack = |
| − | The | + | The optitrack is a motion capture system. |
In the airlab is used to acquire ground truth of robots positions. This is very useful for testing the performances of the algorithms developed, such as [[SLAM]] algorithms. | In the airlab is used to acquire ground truth of robots positions. This is very useful for testing the performances of the algorithms developed, such as [[SLAM]] algorithms. | ||
= Prerequisites = | = Prerequisites = | ||
| − | # A calibrated | + | # A calibrated optitrack |
| − | # A pc with the | + | # A pc with the Optitrack [https://github.com/ros-drivers/mocap_optitrack ros node ] (Branch Motive17) |
| + | |||
| + | = Calibration = | ||
= Acquisition = | = Acquisition = | ||
# Connect the two power cables of the two switches | # Connect the two power cables of the two switches | ||
| − | # Turn on the | + | # Turn on the optitrack PC (windows) |
# Start Motive | # Start Motive | ||
# Start data streaming | # Start data streaming | ||
| Line 17: | Line 19: | ||
## Click on "Data Streaming" | ## Click on "Data Streaming" | ||
## Write your pc IP | ## Write your pc IP | ||
| − | # Start the ros node in your pc | + | # Start the ros node in your pc using a launch file (you should provide a configuration file to give a name to output topics) |
Latest revision as of 16:55, 10 February 2015
Optitrack
The optitrack is a motion capture system. In the airlab is used to acquire ground truth of robots positions. This is very useful for testing the performances of the algorithms developed, such as SLAM algorithms.
Prerequisites
- A calibrated optitrack
- A pc with the Optitrack ros node (Branch Motive17)
Calibration
Acquisition
- Connect the two power cables of the two switches
- Turn on the optitrack PC (windows)
- Start Motive
- Start data streaming
- Click on "View"
- Click on "Data Streaming"
- Write your pc IP
- Start the ros node in your pc using a launch file (you should provide a configuration file to give a name to output topics)
