Setup with VICON

The beginning of indoor navigation.

Initial setup of VICON

• Camera and data stream setup:

Vicon | Award Winning Motion Capture SystemsVicon

Setup For Vicon and Robot

• Creating Object in VICON Tracker

  • First align Robot's front with global frame's x-axis then create object.

Alignment is compulsory to avoid problem with velocity and orientation of robot.

Getting pose data on Onboard Processor

• Using ROS, get data from the VICON Machine

  • According to your processor you can use the following methodsL

x86 based Processors

• Processors like Intel NUC

  • Install the vicon_bridge package from

GitHub - ethz-asl/vicon_bridge: This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.GitHub

ARM Based Processors

• Processors like Odroid XU4, Raspberry Pi

  • Install the vrpn_client_ros using

  sudo apt-get install ros-kinetic-vrpn-client-ros -y

vrpn_client_ros - ROS Wiki

Odometry from Pose data

pageOdometry from pose data