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optitrack_bridge

This package converts Optitrack rigidBody message to ROS1 pose/odometry/tf message.

Tested in

  • Ubuntu 20.04, ROS Noetic
  • Ubuntu 18.04, ROS Melodic
  • Ubuntu 16.04, ROS Kinetic

1.Prerequisite

This code is for below environment.

  • C++14
  • Motive 2.2 or 2.3
  • NatNet 3.1

2.Installation

cd ~/catkin_ws/src

git clone https://github.com/qwerty35/optitrack_bridge.git

cd .. && catkin_make

It assumes that your work space is in ~/catkin_ws/src

3.Usage

roslaunch optitrack_bridge optitrack.launch

4.Parameters

frame_id: Set frame id of message.

message_type: Ros message type.

  • pose - It returns the object's pose as geometry::poseStamped message.
  • odometry - It returns object's pose+twist(velocity) as nav_msgs::odometry message. The twist(velocity) of the object is computed by linear Kalman filter. (Error covariance is not supported yet.)
  • tf - It returns the object's pose as tf message.

show_latency: Print latency on the screen.

publish_labeled_marker_pose_array: If true, publish pose of object's markers as geometry::poseArray

publish_unlabeled_marker_pose_array: If true, publish unlabeled markers as geometry::poseArray

(If labeled or unlabeled markers are not published, check Motive -> Streaming Pane -> Labeled or Unlabeld Markers)