Starting Up

The goal of this document is to provide a step-by-step guide to starting up the Qualisys Under Water 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. 169.

qualisys_logo

Fig. 169 Qualisys Logo

  1. Click on New project button shows in the Fig. 170.

qualisys_new_project

Fig. 170 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. 171.

qualisys_new_project_2

Fig. 171 New Project

  1. Select Settings file at a location where the system worked before. Documents -> 20240308_StefanAndThomas_training and hit OK.

  2. Click on the New icon to start the system. See the Fig. 172. Make sure all 6 tracker cameras are operational. See the Fig. 173.

qualisys_new

Fig. 172 New

qualisys_operation

Fig. 173 Operation

Troubleshooting

If cameras do not show up in the Qualisys Track Manager, try the following:

  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. 174.

qualisys_dhcp

Fig. 174 DHCP

3. The IP for the Ethernet 2 port should be 192.168.0.1, and for the Cameras port the IP should be 192.168.2.1. In case that is not the case and you need to change/amend them, first select the port then click Next and follow the instructions.

Note

Another Qualisys computer, namely Qualisys Air, has its Ethernet port IP set to 192.168.0.2, so a different IP.

  1. Check the wiring is done according to the Wiring Scheme diagram.

qualisys_wiring

Fig. 175 Wiring Scheme

qualisys_wiring

Fig. 176 Wiring Diagram