mocap_node.cpp File Reference

#include "mocap_optitrack/socket.h"
#include "mocap_optitrack/mocap_datapackets.h"
#include "mocap_optitrack/mocap_config.h"
#include "mocap_optitrack/skeletons.h"
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Pose2D.h>
#include <string>
#include <unistd.h>

Include dependency graph for mocap_node.cpp:

Go to the source code of this file.

Functions
int	main (int argc, char *argv[])
void	processMocapData (const char **mocap_model, RigidBodyMap &published_rigid_bodies)
Variables
const char **	DEFAULT_MOCAP_MODEL = SKELETON_WITHOUT_TOES
const int	LOCAL_PORT = 1511
const std::string	MOCAP_MODEL_KEY = "mocap_model"
const std::string	MULTICAST_IP = "224.0.0.1"
const std::string	RIGID_BODIES_KEY = "rigid_bodies"

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Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 100 of file mocap_node.cpp.

void processMocapData	(	const char **	mocap_model,
		RigidBodyMap &	published_rigid_bodies
	)

Definition at line 39 of file mocap_node.cpp.

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Variable Documentation

const char** DEFAULT_MOCAP_MODEL = SKELETON_WITHOUT_TOES

Definition at line 33 of file mocap_node.cpp.

const int LOCAL_PORT = 1511

Definition at line 35 of file mocap_node.cpp.

const std::string MOCAP_MODEL_KEY = "mocap_model"

Definition at line 31 of file mocap_node.cpp.

const std::string MULTICAST_IP = "224.0.0.1"

Author:

Kathrin Gräve

ROS node that translates motion capture data from an OptiTrack rig to tf transforms. The node receives the binary packages that are streamed by the Arena software, decodes them and broadcasts the poses of rigid bodies as tf transforms.

Currently, this node supports the NatNet streaming protocol v1.4.

Definition at line 29 of file mocap_node.cpp.

const std::string RIGID_BODIES_KEY = "rigid_bodies"

Definition at line 32 of file mocap_node.cpp.