OptiTrack (1/3): robot-side NatNet client + PX4 external-vision fusion - #374

Merged

JohnYanxinLiu merged 19 commits into

developfrom

johnliu/optitrack-autonomy

Aug 15, 2026

Commits on Aug 15, 2026

feat(perception): bring natnet_ros2 client up to the optitrack_emulation baseline

JohnYanxinLiu
and
claude
committed
81f1e80
feat(natnet): real-robot PX4 external-vision fusion (mocap → EKF2)

JohnYanxinLiu
and
claude
committed
6f3d94e
docs(natnet): PX4 external-vision setup guide + height-datum explainer

JohnYanxinLiu
and
claude
committed
632b715
feat(perception): point natnet launch include at the natnet_config schema

JohnYanxinLiu
and
claude
committed
3810208
chore: bump version to 0.19.0-alpha.14
JohnYanxinLiu
committed
b5f0efe
fix(natnet): make the NatNet client actually reachable + correct EV tuning

JohnYanxinLiu
and
claude
committed
56814b3
add a real-robot OptiTrack deployment override

JohnYanxinLiu
and
claude
committed
926f5bb
config bodies per robot profile; trim comments to the docs

JohnYanxinLiu
and
claude
committed
7dcdd17
put the mocap floor at the shared world datum

JohnYanxinLiu
and
claude
committed
7b5bacd
fail the build when the geoid dataset is missing

JohnYanxinLiu
and
claude
committed
2a5d89b
abbreviated Dockerfile comment on geographic lib installation
JohnYanxinLiu
committed
76d3f8e
fix repo-root doc links in the external-vision guide

JohnYanxinLiu
and
claude
committed
164e37b
comment trim
JohnYanxinLiu
committed
536bf21
point the companion-link section at the PX4 docs

JohnYanxinLiu
and
claude
committed
337bcb7
frame section 4 around mavros_gp_origin, demote the 36 m note

JohnYanxinLiu
and
claude
committed
2e365fe
reject an unknown connection_type instead of defaulting to unicast

JohnYanxinLiu
and
claude
committed
de383c7
px4 external vision docs trim
JohnYanxinLiu
committed
50eb6a5
trim natnet node comments; note the latency figure is an estimate

JohnYanxinLiu
and
claude
committed
b3a03a0
trim the external-vision tuning notes

JohnYanxinLiu
and
claude
committed
8fbb1c0

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OptiTrack (1/3): robot-side NatNet client + PX4 external-vision fusion - #374

OptiTrack (1/3): robot-side NatNet client + PX4 external-vision fusion#374
JohnYanxinLiu merged 19 commits into
developfrom
johnliu/optitrack-autonomy

Commits on Aug 15, 2026

feat(perception): bring natnet_ros2 client up to the optitrack_emulation baseline

feat(natnet): real-robot PX4 external-vision fusion (mocap → EKF2)

docs(natnet): PX4 external-vision setup guide + height-datum explainer

feat(perception): point natnet launch include at the natnet_config schema

chore: bump version to 0.19.0-alpha.14

fix(natnet): make the NatNet client actually reachable + correct EV tuning

add a real-robot OptiTrack deployment override

config bodies per robot profile; trim comments to the docs

put the mocap floor at the shared world datum

fail the build when the geoid dataset is missing

abbreviated Dockerfile comment on geographic lib installation

fix repo-root doc links in the external-vision guide

comment trim

point the companion-link section at the PX4 docs

frame section 4 around mavros_gp_origin, demote the 36 m note

reject an unknown connection_type instead of defaulting to unicast

px4 external vision docs trim

trim natnet node comments; note the latency figure is an estimate

trim the external-vision tuning notes