setup-with-vicon.md

description
The beginning of indoor navigation.

Setup with VICON

Initial setup of VICON

• Camera and data stream setup:

{% embed url="https://www.vicon.com" %}

• Creating Object in VICON Tracker
  • First align Robot's front with global frame's x-axis then create object.

{% hint style="warning" %} Alignment is compulsory to avoid problem with velocity and orientation of robot. {% endhint %}

Getting pose data on Onboard Processor

• Using ROS, get data from the VICON Machine
  • According to your processor you can use the following methodsL

{% tabs %} {% tab title="x86 based Processors" %}

• Processors like Intel NUC
  • Install the vicon_bridge package from

{% embed url="https://github.com/ethz-asl/vicon_bridge" %} {% endtab %}

{% tab title="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

{% embed url="http://wiki.ros.org/vrpn_client_ros" %} {% endtab %} {% endtabs %}

Odometry from Pose data

{% content-ref url="odometry-from-pose-data.md" %} odometry-from-pose-data.md {% endcontent-ref %}