Create workspace:
mkdir -p mocap4r2_ws/src && cd mocap4r2_ws/src
Download optitrack repo:
git clone git@github.com:MarineRoboticsGroup/mocap4ros2_optitrack.git
Install dependencies:
cd ..
rosdep install --from-paths src --ignore-src -r -y
cd src
vcs import < mocap4ros2_optitrack/dependency_repos.repos
Compiling workspace:
cd .. && colcon build --symlink-install
Source workspace:
source install/setup.bash
Configure Motive networking:
In Motive, open Settings and set Local Interface to the IP address of the
network interface connected to the OptiTrack system (for example,
192.168.0.10). Do not use the loopback address (127.0.0.1).
Setup your optitrack configuration:
mocap4r2_ws/src/mocap4ros2_optitrack/mocap4r2_optitrack_driver/config/mocap4r2_optitrack_driver_params.yaml
Launch optitrack system:
ros2 launch mocap4r2_optitrack_driver optitrack2.launch.py
Check that Optitrack configuration works fine and is connected. As the driver node is a lifecycle node, you should transition to activate:
ros2 lifecycle set /mocap4r2_optitrack_driver_node activate
Visualize in rViz:
ros2 launch mocap4r2_marker_viz mocap4r2_marker_viz.launch.py mocap4r2_system:=optitrack