Do the following steps:

In your catkin src directory clone the repository

git clone https://github.com/hubernikus/ridgeback_movement_nonsmooth.git

Set rosmaster to ridgeback in

SSH onto the ridgeback

ssh -X administrator@172.16.0.135

PW: ridgeback

Synchronize time:

sudo ntpdate 172.16.0.XXX

with the local ip of the computer (not the ridgeback), e.g IP=172.16.0.189

Check that the delay is (almost) zero:

ntpdate -q 172.16.0.XXX

Run vision system

roslaunch ridgeback_movement vrpn-lab_south.launch 

rosrun ridgeback_movement obstacle_avoidance_optitrack.py