prashanthr05 / yarp-vicon-bridge

This is a yarp device driver providing data from VICON motion capture systems.

How to use YarpViconBridge

Installation on Linux

• Getting Yarp

$ git clone https://github.com/robotology/yarp.git
$ git checkout devel
$ cd yarp 
$ mkdir build && cd build
$ ccmake ..
$ make
$ sudo make install
$ sudo ldconfig

• Get ViconDataStreamSDK from the official Vicon website

⚠️ Use the 1.7.1 version of the SDK, the 1.8.0 has some issues.

• Setup the ~/.bash_aliases

export ViconSDK_ROOT=location/of/the/ViconSDK/libraries
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${ViconSDK_ROOT}

• Configure and make

$ git clone https://github.com/robotology/YarpViconBridge.git
$ cd YarpViconBridge
$ mkdir build && cd build
$ cd build 
$ ccmake ..
$ make

System setup

• Make sure the cameras are connected to the switch
• Make sure that the pc where Nexus is running has the port 192.168.10.1 (bottom network card) connected to the switch (blue cable), and the black ethernet cable plugged in the top Network Card(check that the other side is connected to the "r1 router").

Run YarpViconBridge with R1 setup

• Make sure that roscore is running on r1-base
• Make sure that yarpserver --ros is running on r1-base
• Open a terminal and type:

$ rostopic echo \tf

• Open another terminal and launch a transformServer, e.g.:

$ yarpdev --from tfServer.ini

where tfServer.ini is:

device  transformServer
transforms_lifetime 0.500
[ROS]
enable_ros_publisher 1
enable_ros_subscriber 0

• Open antoher terminal and then in YarpViconBridge/build

$ yarpdev --device vicon --hostname 192.168.100.153