This repository is maintained by:

	@Nicogene

The yarp-vicon-bridge is a YARP device working as interface between a Vicon setup and YARP.

Using this device, it is possible to retrieve the Vicon markers information in the form of transformation matrices, i.e. a 3D vector for translation and a quaternion for the rotation.

• Get YARP from the official GitHub repository
• Get ViconDataStreamSDK from the official Vicon website

• Setup the ~/.bash_aliases

  export ViconSDK_DIR=location/of/the/ViconSDK/libraries
  export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${ViconSDK_DIR}

• Configure and make

  $ git clone https://github.com/robotology/yarp-device-vicon-bridge.git
  $ cd yarp-device-vicon-bridge
  $ mkdir build && cd build
  $ cd build 
  $ ccmake ..
  $ make install

• Check if the device has been installed correctly

  yarpdev --list | grep vicon

• Setup the environment variables

    setx ViconSDK_DIR "location/of/the/ViconSDK/libraries"
    setx PATH=%PATH%;ViconSDK_DIR

  💡 You can also set the environment variables using a GUI called Rapid Environment Editor

• Clone this repository

  git clone https://github.com/robotology/yarp-device-vicon-bridge.git

• Configure and build the project using the CMake GUI (:warning: set x64 for generator)

• Build the project either using Visual Studio or the command line:

  cmake --build . --config Release --target install

• Run a yarpserver in a terminal
• Open a second terminal and start a transformServer device:

  yarpdev --device transformServer --ROS::enable_ros_publisher 0 --ROS::enable_ros_subscriber 0

• Open a third terminal and start a yarp-vicon-bridge device:

  yarpdev --device vicon --hostname "192.168.10.2"

  ⚠️ the default hostname is 192.168.10.2 (see Vicon Network Cards Settings) but some network test might be needed to find out the port where the Vicon output is actually streamed.

• Make sure that roscore is running on r1-base
• Make sure that yarpserver --ros is running on r1-base
• Open a terminal and type:

  $ rostopic echo \tf

• Open another terminal and start a transformServer device:

  $ yarpdev --from tfServer.ini

where tfServer.ini is:

device  transformServer
transforms_lifetime 0.500
[ROS]
enable_ros_publisher 1
enable_ros_subscriber 0

• Open another terminal and start a yarp-device-vicon-bridge device:

  $ yarpdev --device vicon --hostname "192.168.10.2"

  ⚠️ the default hostname is 192.168.10.2 (see Vicon Network Cards Settings) but some network test might be needed to find out the port where the Vicon output is actually streamed.