Motion Capture System

To obtain observations, we run the motion capture system. We assume you are readily in the stack subdirectory of the trunk-stack repository.

Usage

First, make sure the robot is turned on. The motion capture cameras should show numbers 1-4. The Windows laptop has to be connected to the OptiHub via USB, and be running the Motive 2 software. Then, on the main computer run the following command:

cd mocap/
source install/setup.bash
ros2 launch mocap4r2_optitrack_driver optitrack2.launch.py

and in a new terminal run:

cd mocap/
source install/setup.bash
ros2 lifecycle set /mocap4r2_optitrack_driver_node activate
ros2 run converter converter_node

You can choose whether to use markers or rigid bodies by changing the type parameter, i.e.

ros2 run converter converter_node --ros-args -p type:='markers'  # or 'rigid_bodies' (default)