Unable to connect to Vicon System

Hey,

The documentation isn’t super clear on how I’m supposed to connect to a Vicon system:

When I try to run mocap_helper it just hangs, because it isn’t able to connect to the client. How do I figure out my vicon_host_name? I currently have the desktop running crazyswarm directly connected to the PoE switch. Is this config ok?

Here’s my mocap_helper.launch file:

<?xml version="1.0"?>
<launch>
  <node pkg="crazyswarm" type="mocap_helper" name="mocap_helper" output="screen" >
    <rosparam>
      # tracking
      motion_capture_type: "vicon" # one of vicon,optitrack,qualisys,vrpn
      object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
      vicon_host_name: "vicon"
      # optitrack_local_ip: "localhost"
      # optitrack_server_ip: "optitrack"
      # qualisys_host_name: "10.0.5.219"
      # qualisys_base_port: 22222
      # vrpn_host_name: "vicon"
    </rosparam>
  </node>
</launch>

[jpreiss]

@arya-k probably more like

crazyswarm Linux PC --- ethernet switch --- windows VICON PC --- VICON switch
                               |
                               +----------- internet connection

@hanzheteng have you tested that configuration, using the usb3-ethernet adapter? Did you measure latency?

[whoenig]

1. You need two cards.
2. Yes, Tracker runs a server, the Crazyswarm operates as client using the DataStream SDK.

I suggest that you read the VICON documentation, in particular for the physical setup.