mocap_vicon_client

This ROS2 package is heavily derived from ros2-vicon-receiver but is now working on Ubuntu 22.04 and ROS2 Humble.

This package integrates Vicon motion capture data using the Vicon DataStream SDK.

Installation

Ensure ROS2 is Installed

Make sure you have ROS2 installed on your system. This package is tested on Ubuntu 22.04 and ROS2 Humble. You can follow the installation guide here.

Install the Vicon DataStream SDK

To install the Vicon DataStream SDK, run the following command:

wget -qO- https://github.com/atarbabgei/miscellaneous/raw/main/mocap_vicon/scripts/install_vicon_datastream_sdk.sh | sudo bash

Install Dependencies

Ensure that the necessary dependencies are installed.

sudo apt update
sudo apt install libboost-all-dev python3-colcon-common-extensions cmake

Create a New ROS2 Workspace

Create a new directory for your ROS2 workspace and navigate into it:

mkdir -p ~/mocap_ros2_ws/src
cd ~/mocap_ros2_ws

Clone the Necessary Repositories

Clone the `mocap_msgs` and `mocap_vicon_client` repositories into the `src` directory:

cd src
git clone https://github.com/atarbabgei/mocap_vicon_client.git

Build the Packages

Navigate to the root of your workspace and build the packages using `colcon`:

cd ~/mocap_ros2_ws
colcon build --packages-select mocap_vicon_client

Source the Workspace

Before running the nodes, make sure to source your ROS2 workspace:

source ~/mocap_ros2_ws/install/setup.bash

Example Usage

Launching the Node

You can launch the node using the provided launch file. The parameters such as server address, buffer size, and namespace can be set from the command line.

Here's an example command to launch the node with the Vicon server at a specific IP (e.g. 192.168.0.100):

ros2 launch mocap_vicon_client client.launch.py server:=192.168.0.100

Acknowledgements

Special thanks to the contributors and maintainers of the Vicon DataStream SDK and the following projects:

• OPT4SMART/ros2-vicon-receiver
• ethz-asl/vicon_bridge
• aheuillet/Vicon-ROS2