Only released in EOL distros:   fuerte

Other Vicon Packages

There are some other packages with different capabilities; it is recommended that you also consider these in light of your own project's needs:

• vicon_bridge - A fork of vicon_mocap with some additional capabilities, e.g. multiple subjects/segments. Like vicon_mocap, it uses the DataStream SDK to access the data.

• vicon - This package appears to implement its own TCP interface to the Vicon host.

ROS API

vicon_recv_direct

Driver for using data from VICON motion capture system. This driver was geared initially towards tracking a single rigid body (one VICON 'Segment'), but has been extended to include tracking of individual marker locations. It requires the VICON DataStream SDK library to be installed.

Published Topics

~output (geometry_msgs/TransformStamped)

• Transforms for the segment being tracked.

~markers (vicon_mocap/Markers)

• Marker positions.

Services

~grab_vicon_pose (vicon_mocap/viconGrabPose)

• Take N consecutive measurements of a specified segment, return the average of these.

Parameters

~stream_mode (str, default: "ClientPullPreFetch")

• Streaming mode. Possible values: "ServerPush", "ClientPull", "ClientPullPreFetch".

~datastream_hostport (str, default: "")

• Hostname or IP address and port, e.g. 192.168.1.1:801.

~subject_name (str, default: "")

• Name of VICON Subject to track.

~segment_name (str, default: "")

• Name of VICON Segment to track.

~update_rate (double, default: 100)

• Rate in Hz at which to publish output.

~vicon_capture_rate (double, default: 50)

• Rate in Hz at which VICON system is capturing data.

~tf_ref_frame_id (str, default: "/enu")

• Reference frame for broadcast TF transforms.

~tf_tracked_frame_id (str, default: "/pelican1/flyer_vicon")

• ID of tracked frame in broadcast TF transforms.

~time_bias_reset (double, default: 0.05)

• Maximum offset between current clock time and time based on time_datum + framenumber*(1/vicon_capture_rate). If the offset becomes greater than the time_bias_reset value then time_datum is set to the current time.

~enable_tf_broadcast (bool, default: false)

• When true, broadcast TF transforms for the tracked segment.

Provided tf Transforms

<tf_ref_frame_id> → <tf_tracked_frame_id>

• Transform of tracked segment (note: only published if ~enable_tf_broadcast is set).