Use optitrack bridge

In Motive open view->Data Streaming Pane, click on the 3 dots in the right upper corner, then Show Advanced

1. rename or delete the file CATKIN_IGORE in optitrack/optitrack_bridge

2. Adjust the launch file in optitrack_bridge/optitrack.launch

   • host_ip -> MultiCastIpAddress. Default is 239.255.42.99

   • host_port -> DataPort. Default is 1511

3. Disable Assets Markers in Motive DataStreaming Pane.

4. Start the ros bridge:

   $ roslaunch optitrack_bridge optitrack.launch
   

5. Check the rigid body TFs in rviz.

Note

• You should set the coordinate setting in Motive as Y-UP.

• Some warning like lost frame, will be because the rigid body doesn’t move (the position stays the same as the last frame) or invalid or any reason…..