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
This code is for below environment.
- C++14
- Motive 2.2 or 2.3
- NatNet 3.1
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
roslaunch optitrack_bridge optitrack.launch
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)