sofiakwok / unitree_ros_packages

Packages for running mocap on Ubuntu 18 with Ros Melodic. The two packages are natnet_ros_cpp (altered from https://github.com/L2S-lab/natnet_ros_cpp to be compatible with Ros Melodic) for publishing poses and optitrack for subscribing to poses. This is a standard ROS1 workspace, with the root directory unitree_ros_packages.

Installation instructions:

1. Install Ros Melodic
2. Source /opt/ros/melodic/setup.bash
3. Install natnet_ros_cpp dependencies: sudo apt install -y ros-$ROS_DISTRO-tf2* wget
4. Clone this repository
5. cd unitree_ros_packages (or catkin_ws if you're on the downstairs computer)
6. Use catkin build or catkin_make (for ROS1, always run this command in the root directory, i.e. unitree_ros_packages). You should have two packages that build successfully.
7. Source /devel/setup.bash
8. To run mocap publisher: roslaunch natnet_ros_cpp natnet_ros.launch
9. To run mocap subscriber: rosrun optitrack listener

Note: For people using the MuJoCo-control-estimation repository, the optitrack package should never need to be actually launched to access pose data - just the publisher needs to be launched. The root directory is called catkin_ws on the downstairs desktop.