`

ros_natnet_client-master
    ├── CMakeLists.txt
    ├── include
    │   ├── Mocap.h
    │   └── NatNet
    │       ├── NatNetCAPI.h
    │       ├── NatNetClient.h
    │       ├── NatNetRepeater.h
    │       ├── NatNetRequests.h
    │       └── NatNetTypes.h
    ├── launch
    │   └── asl_optitrack_vr.launch
    ├── libNatnet
    │   └── libNatNet.so
    ├── package.xml
    ├── README.md
    └── src
        ├── Mocap.cc
        └── ros_natnet_client.cpp

环境依赖：

fmt安装8.1.1

sophus安装main.1.x pangolin版本v0.3

直接clone的代码中catkin_simple功能包文件夹为空，需要自行从别的地方下载

clone得到的代码中和catkin_simple同级的cmakelist.txt文件需要删除

代码修改：

代码需要在nocap.h的头加入
#define FMT_HEADER_ONLY #include "fmt/format.h" 在camkelist.txt里面需要对加入fmt依赖 find_package(FMT REQUIRED) target_link_libraries(ros_natnet_client Mocap ${catkin_LIBRARIES} NatNet.so ${Pangolin_LIBRARIES} fmt)

其他注意：

libnatnet.so 需要软连接 到usr/lib 而不是直接cp 1.首先建立workspace/src 2.把ros_natnet_client放入src， 3.在src里面catkin_init_worksapce 4.catkin_simple安装src里 5.catkin_build 在workspace下 6.source devel/setup.bash 7.roslaunch ros_natnet_client *****.launch

auto wlan0 allow-hotplug wlan0 # wlan0 WiFi card number iface wlan0 inet static address 192.168.3.247 netmask 255.255.255.0 broadcast 192.168.0.255 gateway 192.168.3.1 dns-nameservers 192.168.3.1 wpa-ssid "longmen-2016" wpa-psk "longmen317"