optitrack_ros_interface

Republishes OptiTrack/Motive rigid-body poses — received over VRPN — in a robot base frame instead of the mocap world frame.

For each rigid body X, it publishes T_base_X = T_world_base⁻¹ · T_world_X on <X>/pose_from_<base>.

Workspace	ROS distro	VRPN client	Profile
ros2_ws/	Humble	vrpn_mocap	ros2
ros_ws/	Noetic (EOL)	vrpn_client_ros	ros1

Configuration

All site-specific settings - the VRPN server address, the list of rigid bodies to republish, and which one is the robot base - live in config/optitrack_cfg.yaml.

Quick start

There is no default profile, so a bare docker compose up starts nothing. Pick --profile ros2 or --profile ros1.

ROS1:

docker compose --profile ros1 up --build

ROS2:

docker compose --profile ros2 up --build