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Package Summary

ROS client nodes for the VRPN library, compatible with VICON, OptiTrack, and other hardware interfaces.

Package Summary

ROS client nodes for the VRPN library, compatible with VICON, OptiTrack, and other hardware interfaces.

Package Summary

ROS client nodes for the VRPN library, compatible with VICON, OptiTrack, and other hardware interfaces.

Package Summary

ROS client nodes for the VRPN library, compatible with VICON, OptiTrack, and other hardware interfaces.

Package Summary

ROS client nodes for the VRPN library, compatible with VICON, OptiTrack, and other hardware interfaces.

To debug connection issues, try to use vrpn's CLI tools, such as vrpn_print_devices <tracker_name>@<vrpn_server>, to verify that a connection to the Tracker object of interest can be established. If you cannot get this to work, note that debugging networking or VRPN issues is outside the scope of this ROS interface package, and see VRPN documentation for further guidance.

Please check the FAQ for common problems, or open an issue if still unsolved. See sample configuration launch file here.

Node API

vrpn_client_node

The client node connects to a remote VRPN server, and exposes information from the server's Trackers over ROS topics and tf2. The client node auto-detects, or is provided the Tracker names via ROS params (must be valid ROS Graph names).

Published Topics

<tracker name>/pose (geometry_msgs/PoseStamped) <tracker name>/twist (geometry_msgs/TwistStamped) <tracker name>/accel (geometry_msgs/AccelStamped)

Parameters

~update_frequency (double, default: 100.0) ~refresh_tracker_frequency (double, default: 0.0) ~trackers (list) ~frame_id (string, default: "world") ~use_server_time (bool, default: false) ~broadcast_tf (bool, default: true)

2019-10-12 13:16