RichardKelley / vicon-monitor

This package is an extension utilizing vicon bridge. It snatches ROS Tf data from vicon bridge, using SE(3) information for multiple application

vicon-monitor

This package is an extension utilizing vicon bridge to snatch its ROS Tf data to use Vicon Motion Capture system as GT for inddor Spatial Data Processing and evaluation.

Vicon Monitor requires Vicon bridge together in ROS workspace. Check the Acknowledgement

You can collaborate this package to record bag, or monitor Robot / Agent 's odometry in real-time.

This package publishes the following ROS topics

1. Odometry (nav_msgs)
2. Pose (nav_msgs)
3. Path (nav_msgs)
4. Custom TF (to connect your SLAM/base_link frame for real-time monitoring)

How to use

TODO

Acknowledgement

Vicon Bridge

Vicon Bridge is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks.

rigid transform 3D

Matlab/Octave/Python implementation of the rigid 3D transform algorithm