mocap4ros2_vicon

This project provides support for ROS2 integration with Vicon cameras (MOCAP systems based on vision) as part of the project MOCAP4ROS2.

Installation

Dependencies:

Vicon drivers for ROS2 are based on Vicon DataStream SDK 1.11.0. When compiling the mocap_vicon_driver, SDK is downloaded and installed, requiring packages wget and p7zip-full for this. Also, our package depends on other two repositories from MOCAP4ROS2 Project:

• mocap_msgs
• mocap_control

A rosinstall file is provided to automatically manage them.

Installation steps:

The following commands cover all the necessary steps to install DataStream SDK, dependencies and Vicon driver:

## dependencies
sudo apt-get install wget git p7zip-full 

## create workspace
mkdir -p ~/mocap_ws/src
cd ~/mocap_ws/src

## clone vicon repository
git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_vicon.git -b master
## clone necessary mocap repositories
cp mocap4ros2_vicon/mocap4ros2.rosinstall .rosinstall
wstool update

## For ROS Galactic or Foxy only, copy Humble's tf2_geometry_msgs.hpp replacing tf2_geometry_msgs.h
sudo cp tf2_geometry_msgs.hpp.copy /opt/ros/galactic/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp

## manage ros2 dependencies for our workspace
# rosdep init may not be needed
sudo rosdep init
rosdep update
rosdep install --from-paths . --ignore-packages-from-source --rosdistro humble -y

## build all
cd ~/mocap_ws/
colcon build --symlink-install --packages-up-to mocap_vicon_driver

Configuration

Check config/mocap_vicon_driver_params.yaml for the available parameters. Note that host_name should be the IP address and port of the machine running VICON tracker.

Launching

After sourcing the workspace, the Vicon driver can be started using the provided launcher:

ros2 launch mocap_vicon_driver mocap_vicon_driver_launch.py

Remember that the vicon driver is a lifecycle node, so it needs to be signaled to start:

ros2 lifecycle set /mocap_vicon_driver_node activate

About MOCAP4ROS2

The project MOCAP4ROS2 is funded as a Focused Technical Project by ROSIN. Visit mocap4ros2-project github.io for additional info and documentation.

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

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