VICON VRPN Client ROS

Modified by Ivan Lin

Source: https://github.com/ros-drivers/vrpn_client_ros

Updated VICON bridge utilizing VRPN interface to publish velocity (twist) and acceleration measured by the VICON system.

Dependencies

sudo apt-get install ros-$ROS_DISTRO-vrpn

VICON Tracker 3.3+

Published Topics

• <tracker name>/odom (nav_msgs/Odometry) (pose+twist)
• <tracker name>/pose (geometry_msgs/PoseStamped)
• <tracker name>/twist (geometry_msgs/TwistStamped)
• <tracker name>/accel (geometry_msgs/AccelStamped)

Launch

roslaunch vrpn_client_ros utias_vicon.launch

Parameters

• update_frequency (double, default: 100.0)
  • Frequency to process incoming updates from the VRPN server.
• refresh_tracker_frequency (double, default: 0.0)
  • Frequency at which to auto-detect new Trackers (objects) from the VRPN server. Mutually exclusive with trackers.
• trackers (list)
  • List of tracker names to expect from the VRPN server. Mutually exclusive with refresh_tracker_frequency > 0.0
• frame_id (string, default: "world")
  • World frame id for the Trackers.
• twist_accel_in_body_frame (bool, default: true)
  • Publish twist and acceleration in body frame instead of world frame.
• use_server_time (bool, default: false)
  • Publish/broadcast using VRPN server's timestamp, or the local ROS time.
• broadcast_tf (bool, default: true)
  • Broadcast transforms of Tracker pose on /tf.
• process_sensor_id (bool, default: false)
  • In certain applications, there are multiple motion capture systems (sensors) tracking the same object under one network. Enabling this will allow result from different systems to be published as separate topics. Generally not applicable to our use case.