Hi,
I have been struggling to get the mocap data to PX4 v1.6.0 from OptiTrack system, using mavros plugins.
Setup:
- Mocap Machine
- Linux Machine that runs mocap node, using this package. It also runs a node that subscribes to mocap data published by mocap node, and transfer it to
/mavros/mocap/pose.
*Odroid that runs mavros, and connected to Pixhawk - All three devices are connected to a WiFi router (5Ghz).
- The mocap node publishes rigid bodies’ data at 120Hz (checked that with rostopic hz)
- ROS master runs on the Odroid (which runs mavros)
I tried to publish to the topic /mavros/mocap/pose, at different frequencies, but I always get mocap timeout in QGC?
I am not sure what I am missing here?
Any hints/suggestions are appreciated.
Thanks.