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(Ⅱ) VRPN Method

For ROS installation and communication between ROS and Nokov motion capture system, please refer to the articles "ROS Installation and Instructions (Based on Ubuntu 18.04)" and "Communication between ROS and Nokov Motion Capture System".

Ⅰ. PX4 Configuration​

(Ⅰ) Parameter Settings, Effective After Saving and Restarting ​

EKF2_AID_MASK= 24
EKF2_HGT_MODE = 2
Vehicle Setup

Vehicle Setup

Ⅱ. VRPN Configuration​

(Ⅰ) Correctly Configure Parameters in Nokov Motion Capture Software and Start VRPN​

(Ⅱ) Use vrpn_client_ros to Get Motion Capture Data​

roslaunch vrpn_client_ros sample.launch server:=10.1.1.198

Ⅲ. Testing​

(Ⅰ) Topic Forwarding (Assume the Rigid Body Name to be Transmitted is Tracker0)​

rosrun topic_tools relay /vrpn_client_node/Tracker0/pose /mavros/vision_pose/pose

(Ⅱ) QGC Add Listening Port 14557​

ApplicationSettings -> Communication Connection -> Add New Connection

通讯连接配置

Communication Connection Configuration

(Ⅲ) Launch MavRos (Using USB Serial Port Connection) ​

sudo apt install ros-melodic-mavros
roslaunch mavros px4.launch gcs_url:="udp://@127.0.0.1:14557"

For specific parameter descriptions, please refer to: http://wiki.ros.org/mavros

(Ⅳ) View Motion Capture Data​

AnalyzeTools -> MAVLINK Inspector -> VISION_POSITION_ESTIMATE

You can observe the displacement and rotation information of the rigid body, xyz roll pitch yaw

Mavlink Message

Mavlink Message

Ⅳ. Reference Documentation​

  1. Position Estimation Using Visual or Motion Capture Systems

https://docs.px4.io/master/zh/ros/external_position_estimation.html

  1. QGC Usage Help

https://docs.qgroundcontrol.com/master/en/index.html