vicon_interface

Vicon ROS2 Python Driver

Install

1. Use rosdep to install the ROS dependencies: rosdep install --from-paths ./ --ignore-src -r -y
2. For older ROS2 versions (before Jazzy), execute sudo apt install ros-humble-tf-transformations (required by tf_transformations)
3. Platform independent Python3 wrapper for Vicon Datastream SDK: sudo apt install python3-pip, then pip install pyvicon-datastream (install in system environment)

Configure

Please update vicon_tracker_ip and vicon_object_names (list) to match the Vicon PC's IP and tracked objects. The node publishes each object under vicon_pose/<name>, odometry/<name>, odometry/filtered/<name>, and vicon_latency/<name>. Optionally provide child_frame_ids (list) to align per-object child frame IDs; otherwise each object defaults to <name>/base_link.

Build

source /opt/ros/<ros_distro>/setup.bash
colcon build

Or only compile this package. From your project_ws run:

source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install --packages-select vicon_interface

Run

source install/setup.bash
ros2 launch vicon_interface vicon_interface.launch.py