A package to simulate a motion capture system in Gazebo. Provides the same ROS topics as motion_capture_system. Tracks the base link of model in Gazebo using the /gazebo/model_states topic.
Common Parameters
frame_rate (int, default: 0, max: 100)
The frame rate of the motion capture system in hertz. A value of 0 uses a default 100hz to mimic the rate of the real Qualisys motion capture system.
publish_tf (bool, default: false)
If set to true, tf msgs for the subjects are published.
fixed_frame_id (string, default: mocap)
The fixed frame ID of the tf msgs for each subject. Note that the child frame id is automatically set to the name of the subject.
model_list (vector<string>, default: [])
A vector of subjects of interest. Leave the vector empty if all subjects are to be tracked. LEAVING THE VECTOR EMPTY WILL ONLY TRACK NON-STATIC MODEL (according to the model properties in Gazebo).
Subscribed Topics
/gazebo/model_states (gazebo_msgs/ModelStates)
Used to get the model list from Gazebo if no model list parameter is specified.
Published Topics
/{mocap_sys}/{subject_name}/odom (nav_msgs/Odometry)
Odometry message for each specified subject in model_list.
/{mocap_sys}/{subject_name}/velocity (geometry_msgs/TwistStamped)
Twist message for each specified subject in model_list (relative to mocap fixed frame).
/{mocap_sys}/{subject_name}/velocity (geometry_msgs/PoseStamped)
Pose message for each specified subject in model_list (relative to mocap fixed frame).
Called Services
/gazebo/get_model_properties (gazebo/GetModelProperties)
Used to get the model properties when no model list parameter is specified. Models are added to the list if their "is_static" attribute is false.
Node
rosrun mocap_simulator mocap_simulator_node.py