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ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup
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Change in coordinate systems for Motive 2.1.1 #48

Closed samarth-robo closed 3 years ago

samarth-robo commented 5 years ago

These are the changes I had to make to line up the coordinate frames in Motive 2.1.1 and ROS Kinetic. I was visualizing the TFs in ROS using RViz. Optitrack was configured to stream with "Z up". I have the following mocap.yaml:

rigid_bodies:
    '1':
        pose: object/pose
        pose2d: object/ground_pose
        child_frame_id: object_frame
        parent_frame_id: optitrack_frame
optitrack_config:
        multicast_address: x.x.x.x
        command_port: 1510
        data_port: 1511
tonybaltovski commented 3 years ago

Closing in favour of #51.