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vicon_bridge2

This repository is the combinition of the two vicon_bridge, and ros2-vicon-receiver projects. The ros2-vicon-receiver project uses a custom message with no timestamp and does not broadcast TF messages while vicon_bridge provides these functionalities but has no ROS2 support. To fill this gap, this repository provides a ROS2 package that similar to vicon_bridge, publishes PoseStamped and TF2 messages.

How to Use

Clone the repository inside your ROS2 workspace and compile:

cd your-ros2-ws/src
git clone https://github.com/Rooholla-KhorramBakht/vicon_bridge2.git
cd ..
colcon build

Then configure the launch file and set the hostname to the appropriate IP address of the Vicon server. Finally launch the node:

source install/setup.bash
ros2 launch vicon_bridge2 vicon.launch.py

Using Docker

Docker support has also been provided:

cd vicon_bridge2
docker build . -t vicon_bridge2
docker run -it --network host --privileged -it vicon_bridge2