Thank you for the answer. Bosch has set up our Remote Laboratory with a Phase Space System to watch the robot and other objects for our experiments. I pulled your Phase Space Driver from the revision in the WG svn history right before it was deleted. It was in https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/drivers_experimental at revision 38660. It is working quite well with a Lucid 64bit installation here at Bosch. I just wanted to make sure there weren't any hidden bugs that I should be aware of as I reuse parts of it for our set up.

Here at Bosch, we will be using it as ground truth system and also as a part of our safety system in the Remote Laboratory that we are setting up. I am planning to set up a new driver that will let you choose master/client and server address. However more importantly, I am adding an easy way to add sets of markers to track as rigid bodies using yaml and the parameter server. The new driver will publish poses/tfs for those rigid bodies. This will make it easier for folks to watch specific objects without mucking around in code. We will be publishing the code in the bosch svn repository once it is ready.

On Mon, Aug 2, 2010 at 2:27 PM, Vijay Pradeep <vpradeep@willowgarage.com> wrote:

Hi Adam,

Short Answer: The driver definitely did work, and we used it a lot here at Willow Garage for a variety of tests and experiments. But, we haven't had to resources to maintain or improve it.

The phasespace driver is a very thin ROS wrapper around the existing PhaseSpace API. Where did you copy the package from (url, revision, etc)? It actually links in a closed source .so from PhaseSpace, which currently will only work on 32-bit machines. It also required some older versions of some standard libraries, which I believe might not come with the base Ubuntu install anymore. The ROS phasespace driver also only runs in slave mode, which means that you have to use a tool like the phasespace master GUI to configure and start the system, before starting the ROS phasespace driver. This can become inconvenient when what you want to something like "roslaunch launch_my_robot_with_phasespace.launch".

I definitely think that writing a PhaseSpace driver that can run in Master mode would be a great addition to the ROS community. At this point however, we don't have the resources to support it in-house.

Vijay

On Mon, Aug 2, 2010 at 10:55 AM, Adam Stambler <adasta@gmail.com> wrote:

Hello All,

Willow Garage has some experimental Phase Space motion capture drivers listed on the wiki, but its drivers have been removed from the latest svn revisions. I have pulled them out of the history, but before I start using them I was wondering why they were removed. Did Willow simply stop using their phase space cameras ? Are there any problems that I should be aware of?

Thanks for the help,
Adam Stambler

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