Requisites: qualisys_cpp_skd
Create workspace:
mkdir -p mocap_ws/src && cd mocap_ws/src
Download qualisys repo recursively to get https://github.com/qualisys/qualisys_cpp_sdk, or set QualisysSDK_PATH:
git clone --recursive https://github.com/MOCAP4ROS2-Project/mocap4ros2_qualisys.git
Install dependencies:
vcs import < mocap4ros2_qualisys/dependency_repos.repos
Compiling workspace:
cd .. && colcon build --symlink-install
Source workspace:
source install/setup.bash
Setup your qualisys configuration:
mocap_ws/src/mocap4ros2_qualisys/qualisys_driver/config/qualisys_driver_params.yaml
Launch qualisys system:
ros2 launch qualisys_driver qualisys.launch.py
Visualize in rViz:
ros2 launch mocap_marker_viz mocap_marker_viz.launch.py mocap_system:=qualisys