Connection issues between ROS Melodic and Optitrack Streaming Engine

[ros-drivers]

Connection issues between ROS Melodic and Optitrack Streaming Engine

[jadhm]

@geothan Hi, did you define the the id streaming of the rigidbody ? because what you see in the config yaml file of this package that there are 2 rgigbodies are defines the first one with the streaming id 1 and the other is 2 so please make sure that the rigigbody in motive has the streaming id of 1 or 2

[geothan]

Hi @jadhm!

i think that i i've defined properly the streaming ID.

I redownload and built the driver optitrack succesfully, making the below change:

I executed the following:

Could the specific driver not be compatibe with motive 2.2? Can i define server version? Generally, linux and windows computers see each other through ip ping. Windows PC is connected through Ethernet and Linux PC wirelessly in router.

[jadhm]

Hi @geothan
That's weird but it should work because I am also using motive 2.2.0 and the driver is compatible with it. could you please try to launch it using --screen so I can see the initialization logs
roslaunch mocap_optitrack mocap.launch --screen

and if you try rostopic list would you see the all the topics ?

[geothan]

Hi @jadhm ,

Here is a screenshot of launch file execution:

The result of topics is the following:

The first time that i tried the above settings, topics of robot1 weren't visible only parameter_descriptions and parameter_updates topics. These topics are empty, is that normal?

Finally, when i run
roslaunch mocap_optitrack mocap.launch & rosrun rviz rviz

Shall i see my robot in rviz? Because i see an empty world.

[jadhm]

It seems it works just fine ! I see that you can read the topic /mocap_node/Robot_1/pose which is basically the position of the tracked object. So I don't think you have any problems and for visualizing the pose in RVIZ you should add the topic manually and also configure the Fixed frame.

[lixryjz]

hi，yet I am very happy to see that, but i have down the fixed frame and add topic as you said in RVIZ,there is only a red line with an arrow.can you tell me how to do?i hope you can screenshot

[chennuo0125-HIT]

@geothan @lixryjz the problem has been solved ? i get same problem as follows:

[ WARN] [1679050884.023240442]: Could not get server version, using auto

and no more print