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I wish to send Optitrack mocap pose data (using vrpn_client_ros) to Pixhawk FCU through mavros_extras - mocap_pose_estimate plugin. However I do not see an executable made for mocap_pose_estimate plugin. So how do I use it ?
How to use that mocap_pose_estimate? Do I need to add executables for that in the CMakeLists.txt?
It is a plugin so you have to load into mavros node using a yaml as done here.
Thanks for the reply @tonybaltovski. But I dont get it completely. I added mocap_pose_estimate in the px4flow_pluiglists.yaml file and launched the px4flow.launch. I do not think that is the right way. Can you please explain in detail on how to use the mocap_pose_estimate pluigin?
I edited apm_pluiginlists.yaml file. I moved mocap_pose_estimate from blacklist list to whitelist. As a result of that now on running mavros I can see "Pluigin mocap_pose_estimate" loaded and initialized. However I dont yet get it. What is the next step? Plugin needs to subscribe to pose and tf.How
You need to publish the pose to the "/mavros/mocap/pose" topic.
Either write your own code to do it or use an existing ROS node.
As an example, let's use the "mocap_optitrack" package.
Edit mocap.yaml to publish the pose to "/mavros/mocap/pose" by modifying the following lines:
rigid_bodies:
'1':
pose: /mavros/mocap/pose
You can leave the rest as default.
Run mavros ( roslaunch mavros px4.launch ) and mocap_optitrack ( roslaunch mocap_optitrack mocap.launch ), and your FCU should receive mocap data.
You might need to increase the baud-rate of the connection between your PC and the Pixhawk in order to get this to work.
HI @JBannwarth, Using ArduCopter 3.5 - I published mavros/mocap/pose topic - My FC change to GPS-3d fix and also receive the eph/epv/sats but it show me that the copter is in (0,0) global location. No matter how I change the (x,y,z) in the mocap topic, the copter doesn't move. what's wrong?
Asked: 2016-06-30 16:56:26 -0600
Seen: 1,615 times
Last updated: Jun 30 '16
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