使用Optitrack给px4提供定位

Motive设置
打开View > Data Streaming，确认OptiTrack Streaming Engine和VRPN Streaming Engine勾选Broadcast Frame Data
创建刚体，改名和ID号
确认工作站IP
vrpn安装

cd ~/catkin_ws/src
git clone https://github.com/clearpathrobotics/vrpn_client_ros.git
sudo apt-get install ros-melodic-vrpn
cd ~/catkin_ws
catkin_make

修改sample.launch内 server:=192.168.
MAVROS 直接通过 /mavros/vision_pose/pose 给 PX4发布消息
remap从Mocap获取的位置主题 /vrpn_client_node/<rigid_body_name>/pose 成 /mavros/vision_pose/pose

<arg name="server" default="192.168.7.7"/>

<node pkg="topic_tools" type="relay" name="relay" args="/vrpn_client_node/nucpx4/pose /mavros/vision_pose/pose"  />

roslaunch vrpn_client_ros sample.launch 

查看Mocap数据，打印试试，如果获取到正确的位置信息说明成功

rostopic echo vrpn_client_node/<rigid_body_name>/pose

运行MAVROS节点

roslaunch mavros px4.launch 

E: Unable to locate package ros-noetic-vrpn
添加ros package源

echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
sudo apt update
sudo apt install ros-noetic-vrpn