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Changelog for package mocap_optitrack

1.0.0 (2023-10-26)

  • Feat: implement ros1 features and fixes
  • Removed wrong and undesired transformation
  • Implemented optitrack timestamp The message timestamp will now be the time at which optitrack acquired the data instead of the time at which the ROS node received the data
  • Fixed deprecated parameters
  • Allowed undeclared parameters
  • Port to ROS2
  • Natnet and server version can now be set in config file Added a way to set both natnet and server version from yaml file, so you don't have to restart the broadcast each time you launch the mocap node. Add "version: [3,0,0,0]" in the optitrack_config-part of the config file
  • Updates all source files with BSD license blurb. Also removes std_msgs has a build dependency as its not a dependency in the code anywhere. Cleans up package.xml to format 2, adds all authors, and corrects maintainer.
  • Adds 2nd body to example config file Also removes use_new_coordinates from the example config file. This is now calculated internally from the server version.
  • Removes console output from launch file
  • Completes refactoring. Tested with NatNet version 3.
  • Finishes a majority of the refactoring and verifies it works for NatNet version 3.0
  • Heavily refactors code to improve compatibility with NatNet SDK and improve single responsibility.
  • Debugging NatNet version 3.0..
  • Added version checking to allow for support for changes related to certain NatNet versions.
  • Added support for new (Motive 1.7+) and old coordinate system.
  • updated for recent natnet protocol
  • Removed un-needed code.
  • Turned down verbosity for less spam when output=screen.
  • mocap configuration file is an option to launch file.
  • Optitrack multicast address is now a parameter in the config file.
  • Fixed config parameter name in example configuration file. frame_id -> child_frame_id: The latter is used in mocap_config.cpp (CHILD_FRAME_ID_PARAM_NAME)
  • Removed tabs from launch file.
  • Switched to a pose stamped message. Added parameters for parent and child frames.
  • initial2
  • initial
  • Update socket.h fixed a typo
  • Install the config directory as well, and add a roslaunch file check macro for the launch file to prevent a regression.
  • Updated package.xml and cleaned up CMakeLists.txt
  • Split off src portion of CMakeLists.
  • Lowercase filenames for socket, remove separate exception header, move headers into package subdirectory.
  • Tested with actual system and deleted unneeded old files.
  • Tried to convert to catkin.
  • Tried to convert to catkin.
  • Updated copyright & authors in manifest.xml.
  • Cleaned up sample configuration file.
  • Updated supported NatNet protocol and description.
  • Added missing stack dependencies.
  • Converted to a unary stack. Added stack.xml to make this a unary stack. Also fixed missing include for ROS_DEBUG.
  • Squashing for release
  • Some commenting to yaml config file
  • Fixed pose streaming for NaN values.
  • Tweaking configs Committer: Ryan Gariepy <rgariepy@clearpathrobotics.com> On branch hsi-upgrades Changes to be committed: (use "git reset HEAD <file>..." to unstage) modified: mocap_optitrack/config/mocap.yaml modified: mocap_optitrack/src/mocap_config.cpp
  • Fixed inversion in published TF.
  • Renamed parameters to reflect the fact that tf will always be published to the same topic.
  • Fixed loop and termination code to handle SIGINT correctly.
  • Added some headers & comments.
  • Fix conversion from OptiTrack to ROS coordinate system.
  • Check for all zeros in data. This occurs when the object is not being tracked by Optitrack. Zero data should not result in any pose/tf being published in ROS.
  • Simplified conversion from Optitrack to Pose2D.
  • Cleanup and fixed uninitialized variable problems. Node now works consistently, since variables are initialized as expected.
  • Some cleanup and prepare for correct mocap->ROS data conversion.
  • Implemented multi-object support. Each object may be exposed as a tf, Pose, or Pose2D with different topics configurable for each rigid body & datatype.
  • Fixed deserialization of Pose values. Code was incorrectly trying to read position/orientation as float64 values instead of the actual float that's in the packet.
  • Fixed remaining packet parsing bugs. Can now read multiple data sets from NatNet packets.
  • Cleaned up parsing a bit, but getting some garbage in output.
  • Fixed a bunch of stuff in OptiTrack packet parsing: crashes, memory leaks, some ugliness. Added Pose and Pose2D topics for using packages that may require these kinds of inputs. Added three parameters to enable/disable each of these topics: publish_transform, publish_pose, and publish_ground_pose.
  • Fixed memory allocation and parsing.
  • Don't launch the silly xterm.
  • git-svn-id: http://ais-bonn-ros-pkg.googlecode.com/svn/trunk/stacks/ais_bonn_drivers@31 ee974301-c962-0d43-73a8-0c9e5eb6d2a8
  • Contributors: 321thijs123, Administrator, Alex Bencz, Felix Duvallet, Hyon Lim, JD Yamokoski, Mike Purvis, Ryan Gariepy, Tony Baltovski, Tønnes Nygaard, Yannick de Hoop, Ziyang LI, codenotes, joerg.stueckler.bw@gmail.com, user, vinnamkim