search

ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup
99 stars 141 forks source link

Switched to a PoseStamped message. #5

Closed tonybaltovski closed 9 years ago

tonybaltovski commented 9 years ago

Switched to using a PoseStamped message rather than Pose message. Added parameter for the parent frame so the proper frame can be filled in the header of the PoseStamped message.

mikepurvis commented 9 years ago

I agree, this seems like a great addition!

@codenotes is provisionally maintaining mocap_optitrack now, so it'll be up to him to review/merge this.

codenotes commented 9 years ago

Are you finding this codebase to be working with the latest Motiv 1.7? I found it did not seem to get data, the packetSerial parsing code (which needs to change with every release of Motiv) would get descriptions, but no longer stream data on Linux.

From: Mike Purvis [notifications@github.com] Sent: Friday, December 19, 2014 2:16 PM To: ros-drivers/mocap_optitrack Cc: Greg Brill Subject: Re: [mocap_optitrack] Switched to a PoseStamped message. (#5)

I agree, this seems like a great addition!

@codenoteshttps://github.com/codenotes is provisionally maintaining mocap_optitrack now, so it'll be up to him to review/merge this.

— Reply to this email directly or view it on GitHubhttps://github.com/ros-drivers/mocap_optitrack/pull/5#issuecomment-67683335.

Vimium has been updated to 1.49https://chrome.google.com/extensions/detail/dbepggeogbaibhgnhhndojpepiihcmeb.×

This email, along with any attachments, may be considered confidential and/or proprietary. If you have received it in error, you are on notice of its status. Please notify me immediately by reply email and then delete this message from your system. Please do not copy it or use it for any purposes, or disclose its contents to any other person. Thank you for your cooperation.

tonybaltovski commented 9 years ago

I haven't found anything past Motive 1.5 to work Linux, which is a pity. I found e7985011229d513029395cda45a7509552f5af85 and I was going to test it to see if it works with 1.7.

codenotes commented 9 years ago

I have been working with a version that will work with 1.7. Specifically, one needs to use their NatNet SDK which is only for windows…so consequently, I ported it to Windows. I have already ported ROS Indigo to Windows running under Cygwin, and that is how I run this new node.

But on Linux, I am afraid we are dead in the water for newer versions until Naturpoint either documents the format, releases NatNet for linux, or provides an update of their sample code that works on Linux.

Issue lies with Naturalpoint, they say they have not seen demand for linux so they don’t support it. I spoke to them at some length about it…I raised an issue that they need to update their manual packetserial code to demonstrate how to do 1.7; they were going to try to find some time to look into it, but they don’t have a linux expertise on staff, so so far nothing. I would say, raise some noise with them; so far they are hearing it just from me. I offered to port NatNet to linux at my cost. But they are just concerned about supporting it. Let them know you and others need Linux support.

Best, G

From: Tony Baltovski notifications@github.com<mailto:notifications@github.com> Reply-To: ros-drivers/mocap_optitrack reply@reply.github.com<mailto:reply@reply.github.com> Date: Friday, December 19, 2014 at 2:51 PM To: ros-drivers/mocap_optitrack mocap_optitrack@noreply.github.com<mailto:mocap_optitrack@noreply.github.com> Cc: Gregory Brill gbrill@infusion.com<mailto:gbrill@infusion.com> Subject: Re: [mocap_optitrack] Switched to a PoseStamped message. (#5)

I haven't found anything past Motive 1.5 to work Linux, which is a pity. I found e798501https://github.com/ros-drivers/mocap_optitrack/commit/e7985011229d513029395cda45a7509552f5af85 and I was going to test it to see if it works with 1.7.

— Reply to this email directly or view it on GitHubhttps://github.com/ros-drivers/mocap_optitrack/pull/5#issuecomment-67688008.

This email, along with any attachments, may be considered confidential and/or proprietary. If you have received it in error, you are on notice of its status. Please notify me immediately by reply email and then delete this message from your system. Please do not copy it or use it for any purposes, or disclose its contents to any other person. Thank you for your cooperation.

codenotes commented 9 years ago

I created a new branch, Motive17. I think we should version things this way since core formats change and versions are not backward compatible and the code changes do not have version pre-processor directives. Would you mind issuing a pull request to that branch for the 1.7 stuff? And I will merge the PoseStamp change to the master.