mocap4r2_optitrack_driver

Create workspace:

mkdir -p mocap4r2_ws/src && cd mocap4r2_ws/src

Download optitrack repo:

git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_optitrack.git

Install dependencies:

rosdep install --from-paths src --ignore-src -r -y
vcs import < mocap4ros2_optitrack/dependency_repos.repos

Compiling workspace:

cd .. && colcon build --symlink-install

Source workspace:

source install/setup.bash

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