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aarsht7aarsht7
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removed redistribution of sdk + CI underway
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‎.github/workflows/main.yaml‎

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name: main
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on:
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pull_request:
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branches:
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- main
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push:
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branches:
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- main
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jobs:
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humble-devel-ci:
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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matrix:
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ros_distribution:
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- noetic
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include:
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- docker_image: ubuntu:focal
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ros_distribution: noetic
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ros_version: 1
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container:
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image: ${{ matrix.docker_image }}
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steps:
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- name: Setup directories
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run: mkdir -p ros_ws/src
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- name: checkout
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uses: actions/checkout@v3
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with:
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path: ros_ws/src
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- name: Setup ROS environment
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uses: ros-tooling/setup-ros@0.3.4
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- name: Build and Test
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uses: ros-tooling/action-ros-ci@0.2.6
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with:
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package-name: natnet_ros_cpp
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target-ros-distro: ${{ matrix.ros_distribution }}
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skip-tests: true

‎CMakeLists.txt‎

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geometry_msgs
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roscpp
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std_msgs
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visualization_msgs
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sensor_msgs
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tf2
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tf2_ros
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)
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#find_package(Boost 1.65 REQUIRED COMPONENTS system thread)
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#find_package(Eigen3 REQUIRED)
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find_package(Boost 1.65 REQUIRED COMPONENTS system thread)
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find_package(Eigen3 REQUIRED)
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#download Natnet SDK
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execute_process(
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COMMAND chmod "+x" "${CMAKE_CURRENT_SOURCE_DIR}/install_sdk.sh"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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)
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execute_process(
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COMMAND bash "-c" "${CMAKE_CURRENT_SOURCE_DIR}/install_sdk.sh"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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)
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# Enable C++14 and warnings
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#set(CMAKE_CXX_STANDARD 14)
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set(NATNET_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/NatNetSDK/)
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set(NATNET_LIBRARY_DIR ${CMAKE_CURRENT_SOURCE_DIR}/deps/NatNetSDK/lib/libNatNet.so)
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set(natnet_include_directories
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set(my_include_directories
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include/natnet_ros_cpp
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${Boost_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${NATNET_SDK_DIR}/include
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)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# geometry_msgs# std_msgs
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# )
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catkin_package(
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# INCLUDE_DIRS include
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include_directories(
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${catkin_INCLUDE_DIRS}
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${natnet_include_directories}
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${my_include_directories}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/natnet_ros_cpp.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(${PROJECT_NAME} src/natnet_ros.cpp src/internal.cpp src/nn_filter.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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${NATNET_LIBRARY_DIR}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_natnet_ros_cpp.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎README.md‎

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# NatNet 4 ROS driver
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## Introduction
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This package contains a ROS driver for the NatNet protocol used by the OptiTrack motion capture system. It supports NatNet versions 4.0 (Motive 2.2 and higher). The NatNet SDK provided by the optitrack can be found [here](https://optitrack.com/support/downloads/developer-tools.html#natnet-sdk). It is already included in the package under `deps/`. NatNet protocol is used for streaming live motion capture data (rigid bodies, skeletons etc) across the shared network.
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This package contains a ROS driver for the NatNet protocol used by the OptiTrack motion capture system. It supports NatNet versions 4.0 (Motive 2.2 and higher). The NatNet SDK provided by the optitrack can be found [here](https://optitrack.com/support/downloads/developer-tools.html#natnet-sdk). It will be downloaded under `deps/NatnetSDK` while building it for the first time. NatNet protocol is used for streaming live motion capture data (rigid bodies, skeletons etc) across the shared network.
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This package is only tested with the Natnet 4.0 and ROS noetic but probably will work with the older versions of both as well.
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‎deps/NatNetSDK/CMakeLists.txt‎

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‎deps/NatNetSDK/README.md‎

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