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Apply patch for motive3 to work #1

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Merged
merged 1 commit into from
Feb 3, 2025
Merged

Apply patch for motive3 to work #1

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12 changes: 9 additions & 3 deletions src/mocap_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,10 @@ namespace mocap_optitrack
std::bind(&OptiTrackRosBridge::parametersCallback, this, std::placeholders::_1));
}

~OptiTrackRosBridge() {
multicastClientSocketPtr.reset();
};

void initialize()
{
if (serverDescription.enableOptitrack)
Expand All @@ -70,9 +74,9 @@ namespace mocap_optitrack
dataModel.setVersions(&serverDescription.version[0], &serverDescription.version[0]);
}

// Need verion information from the server to properly decode any of their packets.
// If we have not recieved that yet, send another request.
while (rclcpp::ok() && !dataModel.hasServerInfo())
// Need version information from the server to properly decode any of their packets.
// If we have not received that yet, send another request.
while (rclcpp::ok())
{
natnet::ConnectionRequestMessage connectionRequestMsg;
natnet::MessageBuffer connectionRequestMsgBuffer;
Expand All @@ -83,6 +87,8 @@ namespace mocap_optitrack
else sleep(1);

spin_some(node);
if (dataModel.hasServerInfo())
break;
}
// Once we have the server info, create publishers
publishDispatcherPtr.reset(
Expand Down
15 changes: 15 additions & 0 deletions src/natnet/natnet_messages.cpp
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Expand Up @@ -198,6 +198,11 @@ void DataFrameMessage::deserialize(
RCLCPP_DEBUG(logger, "Marker set count: %d", numMarkerSets);
dataFrame->markerSets.resize(numMarkerSets);

if (NatNetVersion.v_major >= 4 and NatNetVersion.v_minor > 0) {
// NatNet version > 4.0: size of all data for this data type (in bytes);
msgBufferIter += 4;
}

// Loop through number of marker sets and get name and data
// TODO: Whether this correctly parses marker sets has not been tested
int icnt = 0;
Expand Down Expand Up @@ -231,6 +236,11 @@ void DataFrameMessage::deserialize(
dataFrame->otherMarkers.resize(numUnlabeledMarkers);
RCLCPP_DEBUG(logger, "Unlabled marker count: %d", numUnlabeledMarkers);

if (NatNetVersion.v_major >= 4 and NatNetVersion.v_minor > 0) {
// NatNet version > 4.0: size of all data for this data type (in bytes);
msgBufferIter += 4;
}

// Loop over unlabled markers
icnt = 0;
for (auto& marker : dataFrame->otherMarkers)
Expand All @@ -249,6 +259,11 @@ void DataFrameMessage::deserialize(
dataFrame->rigidBodies.resize(numRigidBodies);
RCLCPP_DEBUG(logger, "Rigid count: %d", numRigidBodies);

if (NatNetVersion.v_major >= 4 and NatNetVersion.v_minor > 0) {
// NatNet version > 4.0: size of all data for this data type (in bytes);
msgBufferIter += 4;
}

// Loop over rigid bodies
for (auto& rigidBody : dataFrame->rigidBodies)
{
Expand Down