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--- integration:ros [2020/05/27 16:30] – [ROS measurement system integration] oliver
+++ integration:ros [2020/11/18 10:04] – [Vicon specific topics] oliver
@@ Zeile 26: / Zeile 26: @@
 **The <TransducerUnitGroup>-element can have the following specific property element children:**
-^ Property name 	^ values |
+^ Property name ^ Default value ^ values |
-^ sampleRate | positive float value |
+^ sampleRate | 500 [Hz] | positive float value |
 **The <TransducerUnit>-element has additional specific properties:**
@@ Zeile 75: / Zeile 75: @@
 </code>
+====Vicon specific topics====
+A Vicon markerbased motion analysis system can be integrated via ROS by usage of a "Vicon-ROS-bridge".
+Example configuration fragment:
+<code xml>
+<?xml version="1.0" encoding="UTF-8"?>
+<MeasurementProcess name="Calibration Measurements">
+ <MeasurementSystem id="default" system="ROS" fileSuffix="r3d">
+        <Property name="sampleRate" value="120.0"/>
+        <TransducerUnitGroup name="vicon/TCP" displayName="TCP">
+            <TransducerUnit name="TCP" displayName="TCP">
+                <Channel name="q0"/>
+                <Channel name="q1"/>
+                <Channel name="q2"/>
+                <Channel name="q3"/>
+                <Channel name="v0"/>
+                <Channel name="v1"/>
+                <Channel name="v2"/>
+            </TransducerUnit>
+        </TransducerUnitGroup>
+        ...
+        <TransducerUnitGroup name="vicon/markers" displayName="Markers">
+            <TransducerUnit name="GLOBE1" displayName="GLOBE1">
+                <Channel name="v0"/>
+                <Channel name="v1"/>
+                <Channel name="v2"/>
+                <Channel name="T"/>
+            </TransducerUnit>
+            ...
+        </TransducerUnitGroup>
+ </MeasurementSystem>
+ ...
+</MeasurementProcess>
+</code>