Requisites: qualisys_cpp_skd
Create workspace:
mkdir -p mocap_ws/src && cd mocap_ws/src
Download qualisys repo recursively to get https://github.com/qualisys/qualisys_cpp_sdk, or set QualisysSDK_PATH:
git clone --recursive https://github.com/MOCAP4ROS2-Project/mocap4ros2_qualisys.git
Install dependencies:
vcs import < mocap4ros2_qualisys/dependency_repos.repos
Compiling workspace:
cd .. && colcon build --symlink-install
Source workspace:
source install/setup.bash
Connect to the LAN. Go to wired settings, create a new profile, and give it a cool name. Go to the IPv4 tab and choose the manual method. Then, use 192.168.254.51 as the Address and 255.255.255.0 as the Netmask. Leave the gateway empty. Click apply, select that profile, and then check that you are connected to the LAN.
Setup your qualisys configuration:
mocap_ws/src/mocap4ros2_qualisys/qualisys_driver/config/qualisys_driver_params.yaml
Launch qualisys system:
ros2 launch qualisys_driver qualisys.launch.py
Visualize in rViz:
ros2 launch mocap_marker_viz mocap_marker_viz.launch.py mocap_system:=qualisys