Vicon - ROS

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Install ROS interface and dependencies

You can use the ROS interface for VRPN Client.

Go to your workspace, clone and build this repo and its dependencies:

laptop $ cd ![your_ws]/src
laptop $ git clone https://github.com/MRASL/ros_vrpn_client
laptop $ git clone https://github.com/ethz-asl/vrpn_catkin
laptop $ git clone https://github.com/catkin/catkin_simple.git
laptop $ git clone https://github.com/ethz-asl/glog_catkin.git
laptop $ cd .. & catkin build

Publishing Vicon data to the ROS Network

Run the node vrpn_client using the launch file mrasl_vicon_duckiebot

laptop $ roslaunch ros_vrpn_client mrasl_vicon_duckiebot.launch object_name:=![vicon_object_name]

This launch file is a copy of the original asl_vicon.launch, using for the object vicon_object_name and the Vicon server IP 192.168.1.200.

Using rostopic list, you can see the following topics from Vicon:

/duckiebot_razor/vrpn_client/estimated_odometry                
/duckiebot_razor/vrpn_client/estimated_transform                                                     
/duckiebot_razor/vrpn_client/raw_transform                                                           
/duckiebot_razor/vrpn_client/vicon_intermediate_results                                              
/rosout                                                                                               
/rosout_agg