Links

• http://wiki.ros.org/mocap_optitrack

Install

sudo apt install -y ros-melodic-mocap-optitrack

Create a rigid body and ensure it is being transmitted from Motiv

Edit mocap.yaml

roscd mocap_optitrack/config
nano mocap.yaml

#
# Definition of all trackable objects
# Identifier corresponds to Trackable ID set in Tracking Tools
#
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
optitrack_config:
        multicast_address: 224.0.0.1
        command_port: 1510
        data_port: 1511
        enable_optitrack: true

Launch mocap

roslaunch mocap.launch

Subscribe to the pose topic

rostopic echo /mocap_node/Robot_1/pose