Starting Up

The goal of this document is to provide a step-by-step guide to starting up the Qualisys Air system and recognize a Rigid Body, and stream the data into ROS.

To start up the Qualisys system, follow these steps:

  1. Turn on the Qualisys computer.

  2. Open the Qualisys Track Manager software. See the Fig. 124.

qualisys_logo

Fig. 124 Qualisys Logo

  1. Click on New project button shows in the Fig. 125.

qualisys_new_project

Fig. 125 New Project

  1. Give the project a name, e.g. Qualisys_Stefan_test1, then select Settings imported from another project, click OK. See the Fig. 126.

qualisys_new_project_2

Fig. 126 New Project

  1. Select Settings file at the location indicated below (i.e. Documents -> Above Water Only) and hit OK. See the Fig. 127.

qualisys_setting

Fig. 127 Setting

  1. Click on the New icon to start the system. See the Fig. 128. Make sure all 8 tracker cameras + 1 video camera are operational. See the Fig. 129.

qualisys_new

Fig. 128 New

qualisys_operation

Fig. 129 Operation

Troubleshooting

If the Qualisys system is not working properly or cameras do not show up, follow these steps:

  1. Try turning off the power to all cameras (there is just one large power adapter poering them all), then wait for a couple of seconds, and then turn back on;

  2. Check the networking settings. Right-click on the Qualisys DHCP Server icon -> Configuration wizard. See the Fig. 130. The IP for the Ethernet port should be 192.168.0.2, and for the Cameras port the IP should be 192.168.254.1. In case that is not the case and you need to change/amend them, 1st select the port then click Next and follow the instructions.

qualisys_dhcp

Fig. 130 DHCP

Note

The other Qualisys computer, namely Qualisys UW, has its Ethernet port IP set to 192.168.0.1 so a different IP was selected for Qualisys Air computer.

  1. Check the wiring is done according to diagram shown in the Fig. 131.

qualisys_wiring

Fig. 131 Wiring Diagram