Optitrack

Optitrac

The optitrac 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

1. A calibrated optitrac
2. A pc with the Optitrac ros node

Acquisition

1. Connect the two power cables of the two switches
2. Turn on the optitrac PC (windows)
3. Start Motive
4. Start data streaming
   1. Click on "View"
   2. Click on "Data Streaming"
   3. Write your pc IP
5. Start the ros node in your pc