Differences

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--- hardware:xsens [2014/11/20 10:44] – created danielb
+++ hardware:xsens [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+**NOTE: Site under construction**
 ====== Required Software ======
   * rviz
@@ Line 10: / Line 12: @@
   * Xsens suite
   * kinect
+====== Preparation ======
+  * **recharge** batteries and replacement batteries
+  * make sure to set up streaming for only one client
 ====== Running the software ======
-	- Start RVIZ
+  * Start RVIZ
 	$ rosrun rviz rviz
-	- For Calibration, define TF between `map` and `mocap`
+  * For Calibration, define TF between `map` and `mocap`
 	$ rosrun comp_mocap tf_dynamic_transform.py
-	- Receive mocap data on port 9763
+  * Receive mocap data on port 9763
-	- Modify the IP in the script to reflect the IP of your computer
+  * Modify the IP in the script to reflect the IP of your computer
 	$ rosrun comp_mocap xsens_tf_broadcaster.py
-	- Publish marker messages for human skelleton with TF root set to `mocap`
+  * Publish marker messages for human skelleton with TF root set to `mocap`
 	$ rosrun comp_mocap mocap_marker.py --skeleton xsens --root-frame mocap
-	- Start Xsens MVN studio on the Xsens laptop
+  * Start Xsens MVN studio on the Xsens laptop
-	-- Make sure to attach the USB stick with the license
+  - Make sure to attach the USB stick with the license
-	-- Go to Options/Preferences/Network streamer
+  - Go to Options/Preferences/Network streamer
-	-- Add your computers IP to the destination addresses
+  - Add your computers IP to the destination addresses
-	- Setup a kinect for capturing RGB images
+  * Setup a kinect for capturing RGB images
-	-- Attach kinect to tripod and to your computer via USB
+  - Attach kinect to tripod and to your computer via USB
-	-- Start Publishing
+  - Start Publishing
 	$ roslaunch openni2_launch openni2.launch
-	- Calibrate kinect camera
+  * Calibrate kinect camera
-	-- Go to camera/driver
+  -  Go to camera/driver
-	--- Check depth_registration if you need depth info
+  - Check depth_registration if you need depth info
 	$ rosrun rqt_reconfigure rqt_reconfigure
-	- Spawn semantic map in rviz via knowrob
+  * Spawn semantic map in rviz via knowrob
-	-- Start knowrob_vis
+  - Start knowrob_vis
 	$ roslaunch knowrob_vis knowrob_vis.launch
-	-- in firefox, go to http://127.0.0.1:1111/ and spawn the map
+  - in firefox, go to http://127.0.0.1:1111/ and spawn the map
 	$ owl_parse('package://iai_semantic_maps/owl/room.owl').
@@ Line 59: / Line 65: @@
 	$ owl_individual_of(A, knowrob:'SemanticEnvironmentMap'), !, add_object_with_children(A).
-	-- Leave the knowrob server
+  - Leave the knowrob server
 ====== Dressing the suite ======