I am trying to get my Intel RTF done to fly using position information from an Optitrack system. Ultimately I would like to fly using offboard commands from my laptop in an area with no GPS. First some system information.
PX4 version: 1.8.2
Motive version: 1.7.3
Computer OS: Ubuntu 16.04
Drone OS: Ubuntu 16.04
ROS version: kinetic
I am using the vrpn_client_ros package to stream data from the Optitrack system to my laptop. That appears to be working as I can echo the /vrpn_client_node/robot1/pose topic to the screen and it updates as I move the drone.
I tried to start mavros on my laptop using the following command
roslaunch mavros px4.launch fcu_url:="udp://:firstname.lastname@example.org:14557"
I am certain of the IP address (192.168.8.1), but not about the port, or the syntax. I assume this would connect to the flight controller, and if it could subscribe to the data stream from Optitrack, I would be set.
From the I need to remap the /vrpn_client_node/robot1/pose to /mavros/vision_pose/pose using
rosrun topic_tools relay /vrpn_client_node/robot1/pose /mavros/vision_pose/pose
however, the position shown in QGroundcontrol does not update.
Any ideas what I am doing wrong?