mocap_nokov

ROS nodes for working with the Nokov motion capture system

Usage

source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/catkin_ws/src
git clone https://github.com/NOKOV-MOCAP/mocap_nokov.git
cd ~/catkin_ws
rosdep install --from-paths src -y --ignore-src
catkin_make
source /devel/setup.bash

nokov@ubuntu:~/catkin_ws/src/mocap_nokov/config$ gedit mocap.yaml

rigid_bodies:
    '1':
        pose: Robot_1/pose
        pose2d: Robot_1/ground_pose
        odom: Robot_1/Odom
        tf: tf
        child_frame_id: Robot_1/base_link
        parent_frame_id: world
    '2':
        pose: Robot_2/pose
        pose2d: Robot_2/ground_pose
        odom: Robot_2/Odom
        tf: tf
        child_frame_id: Robot_2/base_link
        parent_frame_id: world
nokov_config:
        server_address: "10.1.1.198"

This is a ROS parameter configuration file for mocap_nokov. Here is a description of each parameter:

• rigid_bodies : Add rigid body to track.
• 1: : Asset number of rigid body.
• server_address : indicates the IP address of the MOCAP server. In this example, the server's IP address is' 10.1.1.198 '.

Launch Default Configuration from Command Line

Run the following command,

roslaunch mocap_nokov mocap.launch

```Then with rostopic list, you should be able to see the following topics

/mocap_node/<tracker_name>/ground_pose
/mocap_node/<tracker_name>/pose
/mocap_node/<tracker_name>/Odom

where <tracker_name> is usually the name of your tracked objects.