optitrack_person
Small ROS package to have optitrack data from differents segments of differents persons in hanp_msgs format
build
- install dependencies
ros-indigo-deksop- optitrack-genom3 module installed from robotpkg
- run
catkin_make install
Utilisation:
In optitrack, you need to name your rigid bodies this way :
person_<id>_<segment>
where <id> is a integer value
and <segment> one of the following value :
"head","torso", "right_shoulder","right_elbow","right_wrist","right_hip","right_knee","right_ankle", "left_shoulder", "left_elbow", "left_wrist", "left_hip", "left_knee", "left_ankle"
Then run the node:
rosparam publish_rate <rate> with rate between 10 and 100.
rosparam mcast <ip_broadcast>
rosrun optitrack_person optitrack_person_node
You can also use the launch file:
roslaunch optitrack_person optitrack_person.launch mcast:=239.192.168.30 publish_rate:=<rate>
Make sure that the adress match the one in optitrack and that the diffusion mode is set to multicast.
Raw Data :
There is an alternate launch file if you just want the separate topics for the raw data:
roslaunch optitrack_person optitrack.launch