Bruno-33 / opti_node

opti_track

大隔间高速运动捕捉系统OptiTrack的ROS节点包

环境配置

安装virtualenv：

# for ubuntu 16.04
sudo apt-get install virtualenv
# for ubuntu 14.04
sudo apt-get install python-virtualenv

初始化ROS仓库及编译节点代码：

mkdir -p ~/opti_ws/src && cd ~/opti_ws/src
git clone [e-mail]:sysulion/lionbrain-plugins/opit_track.git
cd ..
catkin_make

在虚拟环境下安装对应依赖：

virtualenv -p /usr/bin/python3 ~/opti_ws/venv
source ~/opti_ws/venv/bin/activate
pip install catkin_pkg 
pip install catkin_tools 
pip install empy 
pip install rospkg 
pip install pyyaml
pip install numpy
chmod +x ~/opti_ws/src/bebop_odom/scripts/opti_odom.py

修改opti主机对应的IP

将bebop_odom文件夹里script里的opti_odom.py的main函数里的这行代码，把ip地址改为opti主机的无线网络IP streamingClient = NatNetClient("196.168.0.112")

运行节点

source ~/opti_ws/venv/bin/activate
source ~/opti_ws/devel/setup.bash 
rosrun bebop_odom opti_odom.py