Troubleshooting VRPN Client ROS with Motive and OptiTrack

[drewdavis]

Hi everyone,

I’m currently facing some issues while setting up the vrpn_client_ros package with Motive and OptiTrack cameras. Here’s a detailed breakdown of my setup and the issues I’m encountering:

Setup Details:

Ubuntu PC:

• IP Address: 192.168.1.4

• Connected to Windows PC via Ethernet (Right Port on Windows PC)

• Running vrpn_client_ros package (ros noetic)

Windows PC (OptiTrack):

• Right Port (to Ubuntu PC): 192.168.1.10

• Left Port (connected to Ethernet switch for OptiTrack cameras): 192.168.1.6

• Running Motive with VRPN Streaming Engine

Motive Settings:

1. Local Interface: 192.168.1.10

2. Multicast Interface: 192.168.1.4

3. VRPN Streaming Engine: Enabled

4. VRPN Broadcast Port: 3883

Issues:

Connection Establishment:

• When running roslaunch vrpn_client_ros sample.launch server:=192.168.1.10, the connection is established, but no data is received.

Network Configuration:

Ping between devices:

• Successful ping from Windows PC to Ubuntu PC (ping 192.168.1.4)

• Successful ping from Ubuntu PC right port ping 192.168.1.10)

• Unsuccessful ping from Ubuntu PC to Left Port on Windows PC (ping 192.168.1.6)

Device Visibility:

Nmap scan on Windows PC shows all 3 OptiTrack cameras:

nmap -sn 192.168.1.0/24

Steps Taken to Resolve:

• Verify if VRPN topics are being published : `rostopic list`

Check if data is being published on VRPN topics:

• `rostopic echo /vrpn_client_node/pose`

Firewall on Windows PC:

Disabled the firewall to ensure it is not blocking the VRPN port (3883):

Control Panel > System and Security > Windows Defender Firewall > Turn Windows Defender Firewall on or off

Turn off for both private and public network settings.

Attempted to run NatNet Sample Client on Ubuntu:

Code: Select all

./SampleClient 192.168.1.10 :

NatNet Sample Client (NatNet ver. 4.1.0.0)

[NatNetLib] [INFO]: [Client] Initializing using local address:

192.168.1.4

[NatNetLib] [INFO]: [Client] Initializing command listener.

[NatNetLib] [ERROR]: Socket error 0: Success

[NatNetLib] [ERROR]: [Client] Receive Buffer Size: 425984

[NatNetLib] [INFO]: [Client] Host information received. (HostApp:

Motive HostVer: 2.1.0.0 HostIP: 192.168.1.10 ()

[NatNetLib] [INFO]: [Client] Initializing data listener.

[NatNetLib] [WARN]: [HELPER] ReceiveBuffer size = 425984

[NatNetLib] [INFO]: [Client] Connected.

[SampleClient] Server application info: Application: Motive (ver.

2.1.0.0) NatNet Version: 3.1.0.0 Client IP: Server IP:192.168.1.10 Server Name: Mocap Framerate : 35.00 Client initialized and ready.

[SampleClient] Requesting Data Descriptions... [SampleClient] Received

6 Data Descriptions: Data Description # 0 (type=1) RigidBody Name :

chessboardrb RigidBody ID : 5 RigidBody Parent ID : -1 Parent Offset :

Data Description # 2 (type=0) MarkerSet Name : all chessboardrb_1

chessboardrb_2 chessboardrb_3 chessboardrb_4 Data Description # 3

. > [SampleClient] Client is connected to server and listening for data..

[SampleClient] Requesting Data Descriptions...

Current Status:

• VRPN connection is maybe established but no data is received.

• Facing difficulty in pinging from Ubuntu to the Left Port of the Windows PC.

• Successfully seeing all 3 OptiTrack cameras via nmap on the Windows PC.

• No traffic observed on port 3883 for the Right Port using Wireshark. Comes blank when filtered.

Looking for any suggestions or advice to resolve these issues.

Any help or insights from the community would be greatly helpful. Thanks so much in advance!