PPMD Optical Tracker based on RealSense Cameras

Dependencies

• realsense-ros [ros2 branch]:

git clone -b ros2 git@github.com:IntelRealSense/realsense-ros.git

• scipy.spatial.transform.Rotation

Instructions

1. Install librealsense
2. Clone realsense-ros [ros2 branch], this repo, and ppmd_optical_tracker_msg to /src of your colcon workspace
3. Copy the *.rom file of your tracking marker tool to /ppmd_optical_tracker/roms/
4. Modify the config.yaml to configure the new tool
5. Run colcon build in your_colcon_ws, then source install/setup.bash
6. Run ros2 launch ppmd_optical_tracker track.launch.py