【crazyswarm2】中motion_capture.yaml参数文件配置

【Crazyswarm2】环境配置、系统概述和使用教程_后厂村路钢铁侠的博客-CSDN博客

路径：~/ros2_ws/src/crazyswarm2/crazyfile/config

一、动捕种类和主机地址

/motion_capture_tracking:
  ros__parameters:
    type: "optitrack"
    hostname: "130.149.82.37"

    mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker

    topics:
      poses:
        qos:
          mode: "sensor"
          deadline: 100.0 # Hz

二、标记种类

single marker比较常用，只有一个标记点：

 marker_configurations:
      default: # for standard Crazyflie
        offset: [0.0, 0.0, 0.0]
        points:
          p0: [   0.0,    0.0, 0.022]  # top
          p1: [-0.042,  0.042, 0.0  ]  # back left   (M3)
          p2: [-0.042, -0.042, 0.0  ]  # back right  (M2)
          p3: [ 0.042, -0.042, 0.0  ]  # front right (M1)
      default_single_marker:
        offset: [0.0, -0.01, -0.04]
        points:
          p0: [0.0177184,0.0139654,0.0557585]
      mocap_deck:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.03, 0.0, 0.0] # front
          p1: [0.00, -0.03, 0.0] # right
          p2: [-0.015, 0.0, 0.0] # back
          p3: [0.00, 0.03, 0.0] # left
      medium_frame:
        offset: [0.0, 0.0, -0.03]
        points:
          p0: [-0.00896228,-0.000716753,0.0716129]
          p1: [-0.0156318,0.0997402,0.0508162]
          p2: [0.0461693,-0.0881012,0.0380672]
          p3: [-0.0789959,-0.0269793,0.0461144]
      big_frame:
        offset: [0.0, 0.0, -0.06]
        points:
          p0: [0.0558163,-0.00196302,0.0945539]
          p1: [-0.0113941,0.00945842,0.0984811]
          p2: [-0.0306277,0.0514879,0.0520456]
          p3: [0.0535816,-0.0400775,0.0432799]

三、动态配置限制

dynamics_configurations:
      default:
        max_velocity: [2, 2, 3] # m/s
        max_angular_velocity: [20, 20, 10] # rad/s
        max_roll: 1.4 #rad
        max_pitch: 1.4 #rad
        max_fitness_score: 0.001