Qualisys

Hardware install process :

Step 1 : link each module to each other like this :

Step 2 : Connected power plug to the power input, the rj45 cable to the data input and the camera output to the end or the start of the cameras

Step 3 : connect the rj45 cable to a computer or a switch (if all is ok the camra light should turn green)

Step 1 : install QTM_2021_2_Build_6940_Setup.exe (check all during the installation process)

Step 2 : run Qualisys Track Mananger

Step 2-1 : if it's the first time runing QTM chose Create Project

Step 2-1-1 : select Default setting for Base the new project on

Step 3 : calibrate the system (cf : calibration.pdf)

Step 4 : creat rigid body of the object that you want to capture (cf : creat rigib body.rtf)

Step 1 : Create a worspace name qualisys_ws/src

Step 2 : clone https://github.com/KTH-SML/motion_capture_system or unzip motion_capture_system-master.zip into src folder

(finely you will have /qualisys_ws/src/motion_capture_system-master/...)

Step 3 : build the workspace cd /qualisys_ws , catkin_make or catkin build

requiered :

Step 1 : one the windows computer run QTM and load previously made project

Step 2 : grab the ip (ipconfig on cmd command)

Step 3 : On the Ubuntu computer source the qualisys_ws (source qualisys_ws/devel/setup.bash)

Step 4 : run the command :

roslaunch mocap_qualisys qualisys.launch server_address:=windows_computer_ip_address

by default : 192.168.0.21

Maxime Duquesne 12/12/2022