Currently supported clients:

Client	Means of Publishing	Launch Command (Example)
console	Only to the terminal (if activated)	mocap2console -c NED
ivy	For the Ivy client	mocap2ivy -s 123
udp	Data as a UDP stream	mocap2udp -i 192.168.209.100 -p 25
log	Data directly dumped into a file	mocap2log -n myfile.csv
ROS2	On two ros2 topics /mocap/pose and /mocap/twist	mocap2ros2 --publish_topic UAV
ROS2PX4	As above + the published on the required PX4 topic /fmu/in/vehicle_visual_odometry	mocap2ros2px4 -f 120

Currently supported platforms:

Ubuntu >= 22.04 on x86

Building natively

Build all with:

mkdir build && cd build
cmake .. && make

Build only some with (for example):

mkdir build && cd build
cmake -D'CLIENTS=console;ivy;ros2;ros2px4' .. && make

Prerequisites

Prerequisites vary per client. Currently, these are known:

Client	Known Prerequisites
all	libboost-all-dev installed with apt
ivy	ivy-c-dev installed from ppa:paparazzi-uav/ppa
ros2	ros-humble-base, needs to be sourced for compilation
ros2px4	As above + px4_msgs must be sourced to run (execute . scripts/source_ros_and_msgs.sh)

Build using Docker

Each client has its own dockerfile to make compilation across platforms easier. For this first install docker as is explained on the official website.

Then you can build your docker image using e.g.,

docker build -t consoleclient . -f ./dockerfiles/console.dockerfile 

Where -t defines the name of the docker image and -f defines the file path to the dockerfile. Afterward, you can run the docker image with:

docker run -it --rm --net host consoleclient cmdline args of your choice

When running the logging client with docker you have to mount a volume such that the written file will persist on the host machine. The client expects the volume to be mounted under /data, i.e. the command would be something like to save the data in the current directory:

docker run -it --net=host -v ./:/data logclient -s 1 -o data.csv

How to write your own client?

To write your own client it has to inheret from the base class UnifiedMocapClient defined in unified_mocap_client.hpp and needs to implement the

void publish_data()

function. It can also implement

void add_extra_po(boost::program_options::options_description &desc)
void parse_extra_po(const boost::program_options::variables_map &vm)

Afterward, the client needs to be added to the CMakeList.txt file and added to the main executable main.cpp using compile options. A simple example of how to do this is the ConsoleClient defined in clients/console_client.hpp.