optitrack_bridge

ROS node optitrack_bridge_node, listen to pose multicasted via UDP by optitrack system, and republish it as ROS messages.

• parameter address, multicast address for optitrack system, default to 239.255.42.99

• parameter port, multicast address for optitrack system, default to 1511

• parameter body_name, name of rigid body published by optitrack, default to base_link

• parameter body_frame_id, frame_id of rigid body published to ROS, default to the name from optitrack

• parameter map_frame_id, frame_id of map, default to map

• parameter fps, desired frame rate for pose messages, if fall below 80% than this, would generate a diagnostic error, default to 120

• publish topic tf, the topic for map to body transformations

• publish topic pose, for body pose relative to map