Skip to content
ROS publisher to publish skeleton data streamed via NatNet 3.1 protocol for Motive 2.1. Based on PythonClient example of NatNet SDK 3.1 software
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
scripts
CMakeLists.txt
README.md
package.xml

README.md

skeleton_pkg README:

Modified PythonClient example of NatNetSDK 3.1 for skeleton tracking with Motive 2.1. This is a ROS driver/node to publish the skeleton data.

Original example here: https://optitrack.com/products/natnet-sdk/

Edited original example to make a ROS publisher to publish geometry_msgs/PoseArray of the skeleton that I am tracking (upper body markerset. 25 markers). Skeleton is streamed in NatNet as a set of rigid bodies. My skeleton is sent as 13 rigid bodies ( neck, hip, left upper arm, left lower arm, etc). Used NAT_PING in NatNetClient.py-> self.sendCommand() call to receive mo-cap data.

For your use, edit NatNetClient.py-> skeletonMessage() which is a callback triggered when a rigid body data is received.

Start a roscore and run-

rosrun skeleton_pkg skeletonMain.py

You can’t perform that action at this time.