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Ok, so I have it working and this is what I did: - Install vrpn-client-ros:
- gvdhoorn mentioned you can easily do this with:

sudo apt-get install ros-kinetic-vrpn-client-ros

- I didn't do it that way so I can't vouch for it working, what I did do is:

Ok, so I have it working and this is what I did: - did:

• Install vrpn-client-ros:
  - vrpn_client_ros:

  • gvdhoorn mentioned you can easily do this with:

    with: 
     sudo apt-get install ros-kinetic-vrpn-client-ros
    

    - ros-kinetic-vrpn-client-ros

  • I didn't do it that way so I can't vouch for it working, what I did do is:
    is:
    
    • Go to catkin src folder: cd ~/catkin_ws/src
    • clone the repository: git clone https://github.com/ros-drivers/vrpn_client_ros.git
    • update my repos before installing dependencies: sudo apt-get update
    • go to cloned reposetory and install dependencies using: rosdep install --from-paths .
    • go to catkin home directory (may differ if you made it differently): cd ~/catkin_ws
    • make catkin: catkin_make

• launch vrpn_client_ros:
  roslaunch vrpn_client_ros sample.launch server:=<ip_of_server_machine>

  • you should see a "connection established" line at the end
• you can check if the node is running using rosnode list

• If you already set up motive with the streaming configurations and you have a rigid body marked in your world you can see if the data is passed to ros using:
  rostopic echo /vrpn_client_node/<name_of_rigid_body>/pose

• Configuring Motive:

  • streaming data:

    • Basically I followed instructions in http://wiki.ros.org/mocap_optitrack (even though they reference an old version of motive) but I will explain what I did anyways.
    • In motive go to the streaming pane (icon looks like radio signal)
    • press on the three dots at the top and "Show Advance"
    • not sure if this is relavent, but "local interface" is on "loopback"
    • make sure "Rigid Bodies" is on
    • set "Transmission Type" to "Multicast"
    • set "Multicast Interface" to your ros machines IP address
    • set "Broadcast VRPN Data" to on
    • "VRPN Broadcast Port" should stay 3883

  • calibrate cameras:
    I followed this video: https://www.youtube.com/watch?v=cNZaFEghTBU

  • creating rigid body:
    I followed the instructions in https://v20.wiki.optitrack.com/index.php?title=Rigid_Body_Tracking

I hope this manages to help someone else, it was very frustrating for me, but seeing it now it seems fairly simple.
A lot of thanks to all the people who helped me along the way, especially gvdhoorn who answered my questions quick and graciously.

Ok, so I have it working and this is what I did:

• Install vrpn_client_ros:

  • gvdhoorn mentioned you can easily do this with:
    sudo apt-get install ros-kinetic-vrpn-client-ros
  • I didn't do it that way way, because I found an explanation on the following before I knew of that option, so I can't vouch for it working, what I did do is:
    
    • Go to catkin src folder: cd ~/catkin_ws/src
    • clone the repository: git clone https://github.com/ros-drivers/vrpn_client_ros.git
    • update my repos before installing dependencies: sudo apt-get update
    • go to cloned reposetory and install dependencies using: rosdep install --from-paths .
    • go to catkin home directory (may differ if you made it differently): cd ~/catkin_ws
    • make catkin: catkin_make

• launch vrpn_client_ros:
  roslaunch vrpn_client_ros sample.launch server:=<ip_of_server_machine>

  • you should see a "connection established" line at the end
• you can check if the node is running using rosnode list

• If you already set up motive with the streaming configurations and you have a rigid body marked in your world you can see if the data is passed to ros using:
  rostopic echo /vrpn_client_node/<name_of_rigid_body>/pose

• Configuring Motive:

  • streaming data:

    • Basically I followed instructions in http://wiki.ros.org/mocap_optitrack (even though they reference an old version of motive) but I will explain what I did anyways.
    • In motive go to the streaming pane (icon looks like radio signal)
    • press on the three dots at the top and "Show Advance"
    • not sure if this is relavent, but "local interface" is on "loopback"
    • make sure "Rigid Bodies" is on
    • set "Transmission Type" to "Multicast"
    • set "Multicast Interface" to your ros machines IP address
    • set "Broadcast VRPN Data" to on
    • "VRPN Broadcast Port" should stay 3883

  • calibrate cameras:
    I followed this video: https://www.youtube.com/watch?v=cNZaFEghTBUhttps://www.youtube.com/watch?time_continue=92&v=cNZaFEghTBU

  • creating rigid body:
    I followed the instructions in https://v20.wiki.optitrack.com/index.php?title=Rigid_Body_Tracking

I hope this manages to help someone else, it was very frustrating for me, but seeing it now it seems fairly simple.
A lot of thanks to all the people who helped me along the way, especially gvdhoorn who answered my questions quick and graciously.

Ok, so I have it working and this is what I did:

I ended up using vrpn_ros_cliet (not to be confused with ros_vrpn_client):
http://wiki.ros.org/vrpn_client_ros

• Install vrpn_client_ros:

  • gvdhoorn mentioned you can easily do this with:
    sudo apt-get install ros-kinetic-vrpn-client-ros
  • I didn't do it that way, because I found an explanation on the following before I knew of that option, so I can't vouch for it working, what I did do is:
    
    • Go to catkin src folder: cd ~/catkin_ws/src
    • clone the repository: git clone https://github.com/ros-drivers/vrpn_client_ros.git
    • update my repos before installing dependencies: sudo apt-get update
    • go to cloned reposetory and install dependencies using: rosdep install --from-paths .
    • go to catkin home directory (may differ if you made it differently): cd ~/catkin_ws
    • make catkin: catkin_make

• launch vrpn_client_ros:
  roslaunch vrpn_client_ros sample.launch server:=<ip_of_server_machine>

  • you should see a "connection established" line at the end
• you can check if the node is running using rosnode list

• If you already set up motive with the streaming configurations and you have a rigid body marked in your world you can see if the data is passed to ros using:
  rostopic echo /vrpn_client_node/<name_of_rigid_body>/pose

• Configuring Motive:

  • streaming data:

    • Basically I followed instructions in http://wiki.ros.org/mocap_optitrack (even though they reference an old version of motive) but I will explain what I did anyways.
    • In motive go to the streaming pane (icon looks like radio signal)
    • press on the three dots at the top and "Show Advance"
    • not sure if this is relavent, but "local interface" is on "loopback"
    • make sure "Rigid Bodies" is on
    • set "Transmission Type" to "Multicast"
    • set "Multicast Interface" to your ros machines IP address
    • set "Broadcast VRPN Data" to on
    • "VRPN Broadcast Port" should stay 3883

  • calibrate cameras:
    I followed this video: https://www.youtube.com/watch?time_continue=92&v=cNZaFEghTBU

  • creating rigid body:
    I followed the instructions in https://v20.wiki.optitrack.com/index.php?title=Rigid_Body_Tracking

I hope this manages to help someone else, it was very frustrating for me, but seeing it now it seems fairly simple.
A lot of thanks to all the people who helped me along the way, especially gvdhoorn who answered my questions quick and graciously.