This package is used to obtain the pose of passive markers compatible with Polaris Vega.
This code depends on pyserial.
python3 -m pip install pyserialAdjust the configuration file to have the correct information for your environment.
Configuration file: cfg/config.yml.
| Variable | Meaning |
|---|---|
| polaris_vega:ip | The ip of the Polaris Vega |
| polaris_vega:port | The port you want to connect to. Not necessary to change it. |
| polaris_vega:fps | Set the tracking frequency. It can be 20, 30, or 60 frames per second. |
| polaris_vega:debug | Set it to true to have all commands and replies printed. |
| passive_tools: | A list of paths for the passive tools definition files. |
| passive_tools:path | The path to the definition file of that specific passive tool. |
rosrun polaris_vega_interface polaris_driver_ros.py
The marker pose data will be published in the topic /polaris_vega_interface/tools/getpose.
- Created by: Murilo Marques Marinho (murilo@nml.t.u-tokyo.ac.jp)