<> {{attachment:Logo-white-medium.jpg||width="333",height="200"}} <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage == Description == The asr_flock_of_birds package is the driver for [[http://www.ascension-tech.com/products/product-history/|Ascension Technology Corp]] magnet tracking system "Flock of Birds" (FoB). It provides the remote server which publishes two 6d posemarker and the necessary TF from the magnet tracking system. It also contains launch-files and calibration tools for the use of it. == Functionality == Flock of Birds is a 6D tracking system which can very precisely track position and orientation of three sensors in a magnetic field in front of the receiver. Each tracker is connected to an data-glove and so only two trackers are used currently (for left and right hand). If started, the node publishes periodically the pose of the trackers as TF-publisher as well as '''asr_msgs::!AsrObject'''-Messages on the '''/fob_object'''-Topic. {{attachment:index.png||width="333",height="200"}} {{attachment:index.jpeg||width="333",height="200"}} Left image: Flock of Birds magnet-tracker receiver with its controller PC. Right image: Flock of Birds dataglove with for handmotion captureing (green) and the Flock of Bilds sensor (red). == Usage == This package can be used as a standalone-driver for the Flock of Birds tracker system, but it is recommended to use it as a part of the [[asr_kinematic_chain_dome]]. === Needed packages === This package depends on '''asr_msgs'''-Package for the publication of the fob_objects. === Needed hardware === [[http://www.ascension-tech.com/products/product-history/|Ascension Technology Corp]] magnet tracking system "Flock of Birds" is needed. === Start system === There are mainly two ways to start the Flock of Birds server: To start it directly form the PC which the hardware is connected with, use '''roslaunch asr_flock_of_birds flock_of_birds.launch''' To start from another PC, the package provides a remote script. But Firstly, a ssh connection have to be set up. Secondly, use '''rosrun asr_flock_of_birds flock_of_birds_remote.sh''' == ROS Nodes == The launched Node publishes '''asr_msgs::!AsrObject'''-Messages on the '''/fob_object'''-Topic. There are no configuration or controlling elements.