Package for using the motion capture system with ROS2. Use motion_capture_system for use with ROS1.
Requisites: qualisys_cpp_skd
Create workspace:
mkdir -p mocap_ws/src && cd mocap_ws/src
Download qualisys repo recursively to get https://github.com/qualisys/qualisys_cpp_sdk, or set QualisysSDK_PATH:
git clone --recursive https://github.com/KTH-DHSG/motion_capture_system_r2.git
Install dependencies:
vcs import < motion_capture_system_r2/dependency_repos.repos
Compiling workspace:
cd .. && colcon build --symlink-install
Source workspace:
source install/setup.bash
Setup your qualisys configuration (qualysis server IP is 10.0.0.10):
mocap_ws/src/motion_capture_system_r2/qualisys_driver/config/qualisys_driver_params.yaml
Launch qualisys system:
ros2 launch qualisys_driver qualisys.launch.py
Visualize in rViz (not working at the moment):
ros2 launch mocap_marker_viz mocap_marker_viz.launch.py mocap_system:=qualisys
- /qualisys/{subject_name}/pose (geometry_msgs/PoseStamped)
where {subject_name} stands for the name given to the rigid body in QTM.