This C++ program retrieves data from a compatible Vicon software (Nexus, Shogun, Tracker, Blade) and publish it on a ROS2 topic.
Recommanded OS : Ubuntu 18.04 LTS (Bionic Beaver)
If you are using the recommanded OS precised above, you can simply run the install_ubuntu_bionic.sh to install all dependencies.
Otherwise, follow these instructions :
First, make sure that you have installed the latest version of ROS2 (Dashing Diademata). If not, follow the instructions at the ROS2 website.
Then, install Colcon and CMake :
sudo apt install python3-colcon-common-extensions && sudo apt install cmake
You will also need to install wxWidgets in order to build the GUI :
sudo apt install wx-common wx3.0-headers libwxgtk3.0-dev libwxgtk-media3.0-dev libwxgtk3.0-gtk3-dev libcanberra-gtk-module libcanberra-gtk3-module
And :
sudo ln -sv /usr/include/wx-3.0/wx /usr/include/wx
source /opt/ros/dashing/setup.bash
First, run the following command to install the package's shared libraries:
sudo sh install_libs.sh
Then, run the following command to build the executable:
cd src/nexus_interface/ && colcon build
Once it is finished, you have to source the current workspace so that ROS2 will be able to find the executable :
source src/nexus_interface/install/setup.bash
Finally, you can run the program using the following command :
ros2 run nexus_package client
Change the parameters in Command->Settings to your convenience and then press Start to connect to the DataStream server and start transmitting.
Two listeners have been implemented in Python 3 using rclpy. The first one uses MongoDB (recommended) and the second one uses MySQL.
To launch a listener, just use python3 src/nexus_interface/src/listener/listener_XXX.py (replace XXX by either MongoDB or MySQL).