Setup with VICON

The beginning of indoor navigation.

Initial setup of VICON

• Camera and data stream setup:

Award Winning Motion Capture Systems | ViconVicon

Setup For Vicon and Robot

• Creating Object in VICON Tracker

  • First align Robot's front with global frame's x-axis then create object.

Alignment is compulsory to avoid problem with velocity and orientation of robot.

Getting pose data on Onboard Processor

• Using ROS, get data from the VICON Machine

  • According to your processor you can use the following methodsL

x86 based Processors

• Processors like Intel NUC

  • Install the vicon_bridge package from

GitHub - ethz-asl/vicon_bridge: This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.GitHub

ARM Based Processors

Odometry from Pose data

Odometry from pose data