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41 lines
1.5 KiB
Nix
41 lines
1.5 KiB
Nix
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# Copyright 2025 Open Source Robotics Foundation
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, nav-msgs, rclcpp, tf2-ros }:
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buildRosPackage {
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pname = "ros-humble-mocap-optitrack";
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version = "1.0.1-r1";
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src = fetchurl {
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url = "https://github.com/ros2-gbp/mocap_optitrack-release/archive/release/humble/mocap_optitrack/1.0.1-1.tar.gz";
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name = "1.0.1-1.tar.gz";
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sha256 = "af05b9be9033aae524fb33ac5dd5cdc661170e350ac06a4fee0b9a168ba1e404";
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};
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buildType = "ament_cmake";
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buildInputs = [ ament-cmake ];
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checkInputs = [ ament-lint-auto ament-lint-common ];
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propagatedBuildInputs = [ geometry-msgs nav-msgs rclcpp tf2-ros ];
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nativeBuildInputs = [ ament-cmake ];
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meta = {
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description = "Streaming of OptiTrack mocap data to tf
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<p>
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This package contains a node that translates motion capture data from an
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OptiTrack rig to tf transforms, poses and 2D poses. The node receives
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packets that are streamed by a NatNet compliant source, decodes them and
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broadcasts the poses of configured rigid bodies as tf transforms, poses,
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and/or 2D poses.
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</p>
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<p>
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Currently, this node supports the NatNet streaming protocol v3.0
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</p>
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<p>
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Copyright (c) 2013, Clearpath Robotics<br/>
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Copyright (c) 2010, University of Bonn, Computer Science Institute VI<br/>
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All rights reserved.
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</p>";
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license = with lib.licenses; [ bsdOriginal ];
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};
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}
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