Control offboard for the crazyflie using optitrack cameras and ROS.

Discussions and questions about the Crazyflie Nano Quadcopter
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Carlos719
Beginner
Posts: 4
Joined: Tue Mar 29, 2022 9:01 am

Control offboard for the crazyflie using optitrack cameras and ROS.

Post by Carlos719 »

Hello.

I am a beginner in this topic, and I would like to know how to implement my control laws in the crazyflie using optitrack cameras and ROS. So far, I have installed ROS kinetic in Ubuntu 16.04 and have used the package vrpn_client_ros "https://github.com/ros-drivers/vrpn_client_ros", given that until where I have read it is the way to stream the information of Motive software to the computer with Linux by employing ROS, but when I run the package with "roslaunch vrpn_client_ros sample.launch server:=192.168.0.100" and i use "rostopic /vrpn_client_ros/RigidBody1/pose", I have the following problem "Warning: topic [vrnp_client_ros/RigidBody1/pose] does not appear to be published yet", by another hand, I have also used the package crazyswarm " https://github.com/TSummersLab/crazyswa ... /README.md", but I would like to know if it is possible to modify the code to use the optitrack cameras, since in the package above is not made use of vrpn.

I appreciate your assistance.
kristoffer
Bitcraze
Posts: 630
Joined: Tue Jun 30, 2015 7:47 am

Re: Control offboard for the crazyflie using optitrack cameras and ROS.

Post by kristoffer »

Hi!

You will probably get better help in the Crazyswarm repository. You can find their documentation here https://crazyswarm.readthedocs.io/en/latest/ and the repository here https://github.com/USC-ACTLab/crazyswarm (your link was pointing at a fork of crazyswarm)
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