This class is a ROS node allowing us to parametrize the connection to a Qualisys system and export the streamed objects to /tf and /tf_static. More...

#include <ros-qualisys/qualisys-to-ros.hpp>

Public Member Functions
	QualisysToRos ()
	Construct a new Qualisys To Ros object, this a simple default constructor. More...

	~QualisysToRos ()
	Destroy the Qualisys To Ros object. More...

void	setNodeHandle (ros::NodeHandle &nh)
	Set the Node Handle object. More...

bool	initialize ()
	Initialize the object by: More...

void	run ()
	Acquire the data from the Qualisys stream and send it back to the /tf or /tf_static topic. More...

void	terminate ()
	Properly shutdown the connection with the Qualisys system. More...

Detailed Description

This class is a ROS node allowing us to parametrize the connection to a Qualisys system and export the streamed objects to /tf and /tf_static.

We use rosparams in order to parametrize this nodes behavior. In order to find out the values of these parameters please refer to your Qualisys system documentation.

A quick example of YAML file for the parametrization.

ros_qualisys:
  server_address: "127.0.0.1" # This is the ip where the Qualisys system is
streaming. server_base_port: 22222 # This is the machine port where Qualisys
system is streaming. server_udp_port: 6734 # This is the udp port.
  major_version: 1 # Version of the SDK. (to be checked)
  minor_version: 20 # Version of the SDK. (to be checked)
  frame_rate: 1000 # Maximum rate at which the data are read and broadcasted
to ROS. fixed_frame_id: "mocap" # Name of the frame in which the Qualisys
object are expressed in.

A practical example is available for a real setup in LAAS-CNRS in ros-qualisys/config/bauzil-qualisys.yaml file.

Examples: /root/robotpkg/wip/ros-qualisys/work/ros-qualisys-1.0.0/src/ros-qualisys.cpp.

Constructor & Destructor Documentation

◆ QualisysToRos()

ros_qualisys::QualisysToRos::QualisysToRos ( )

Construct a new Qualisys To Ros object, this a simple default constructor.

◆ ~QualisysToRos()

ros_qualisys::QualisysToRos::~QualisysToRos ( )

Destroy the Qualisys To Ros object.

Member Function Documentation

◆ initialize()

bool ros_qualisys::QualisysToRos::initialize ( )

Initialize the object by:

getting the ROS params.
starting the connection to the Qualisys system using the above params.

Returns: true in case of success,; false otherwise

Examples: /root/robotpkg/wip/ros-qualisys/work/ros-qualisys-1.0.0/src/ros-qualisys.cpp.

◆ run()

void ros_qualisys::QualisysToRos::run ( )

Acquire the data from the Qualisys stream and send it back to the /tf or /tf_static topic.

Examples: /root/robotpkg/wip/ros-qualisys/work/ros-qualisys-1.0.0/src/ros-qualisys.cpp.

◆ setNodeHandle()

void ros_qualisys::QualisysToRos::setNodeHandle ( ros::NodeHandle & nh )

Set the Node Handle object.

Parameters

nh	pointer to a node handle.

Examples: /root/robotpkg/wip/ros-qualisys/work/ros-qualisys-1.0.0/src/ros-qualisys.cpp.

◆ terminate()

void ros_qualisys::QualisysToRos::terminate ( )

Properly shutdown the connection with the Qualisys system.

Examples: /root/robotpkg/wip/ros-qualisys/work/ros-qualisys-1.0.0/src/ros-qualisys.cpp.

The documentation for this class was generated from the following files:

include/ros-qualisys/qualisys-to-ros.hpp
src/qualisys-to-ros.cpp

Public Member Functions