大隔间高速运动捕捉系统OptiTrack的ROS节点包
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 git@gitlab.com: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
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")
source ~/opti_ws/venv/bin/activate
source ~/opti_ws/devel/setup.bash
rosrun bebop_odom opti_odom.py