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ROS2 MoCap Optitrack

Set of ROS2 packages implementing the data acquisition system described in: https://www.overleaf.com/read/mggtpwfjhjzt

Configuration of NatNet server

Please first read the Streaming Guide by Optitrack to get yourself familiar with the topic.

Make sure that a static IP is used on the Optitrack (Windows) workstation for the LAN connection with the Optitrack switch. Windows Defender needs to be deactivated for all networks as well!. Nominally, the static IP should be set to 192.168.4.31, which is the same local network as of the VTEM terminal.

In the streaming pane of Motive, switch-on Broadcast Frame Data and select as the local interface 192.168.4.31. As transmission type select Multicast.

On your target machine (usually the Ubuntu lab workstation), set a static IP to the local network as well (for example 192.168.4.20) and try to pin the source workstation with ping 192.168.4.31. The IP address of the source also needs to be set in the mocap_optitrack_client/config/natnetclient.yaml file.

Usage

Build the packages:

colcon build --packages-select mocap_optitrack_client mocap_optitrack_inv_kin mocap_optitrack_w2b

Source the built packages:

. install/setup.bash

Move to the source directory and run the system via the configuration file:

ros2 launch launch/launch_y_up.py