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4. MoCap Setup
This section describes how to setup and fly in the Motion Capture room. It assumes you have completed section 3 Hardware Setup.
Begin by setting up your flight vehicle in the motion capture room. See Motion Capture Tutorial on the MAGICC lab wiki page for instructions on how to configure an asset in the motion capture room.
Open the quadcopter.yaml file found in /roscopter/params/ folder. Disable GPS and barometer by editing the "Measurement Processing" section in the estimator namespace as follows
use_mocap: true
use_gnss: false
use_baro: false
Scroll down to the estimator node, then remap the pose subscription to the motion capture data asset being published.
<remap from="pose" to="/MOTIONCAPTUREASSET_ned"/>
Example:
<remap from="pose" to="/groot_ned"/>
MOTIONCAPTUREASSET is be the name of the vehicle being tracked in the motion capture room.
Turn on the Motion Capture system and begin tracking your vehicle. To check if the estimator is working, run
$ rosrun optitrack_vrpn node