Motion Capture

Product: Optitrack Prime13 and Prime13W。

Motive Version: 1.7.5。

Calibration:

1. set the THR for prim13W from 255 to 100, since the wanding ball is too small.

2. set ground plane: 50mm

How to use in ROS:

https://github.com/tuw-cpsg/tuw-cpsg.github.io/tree/master/tutorials/optitrack-and-ros

パケットが来ているか確認する方法

roslaunch aerial_robot_base mocap.launch

をしてから，

sudo tcpdump host [mocap ip] -i [device]

ex. sudo tcpdump host 192.168.1.100 -i wlan0