# Vicon - ROS

## Install ROS interface and dependencies

You can use the ROS interface for [VRPN Client](http://www.cs.unc.edu/Research/vrpn/).

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
```
