alt text Autonomous Hovering of crazyflie using ROS and Optitrack:

As a means to get position data from Optitrack on the Ubuntu server controling the hovering of the crazyflie We are using the vrpn_client_ros package:

  • Since it is a new package we modified the launch file from whoeing's repository here is the link to our version implementing the vrpn_client_ros package: alt text
  • Coordinate system alignment: alt text
  • Optitrack issues:
    • Not providing Robust tracking
    • Threshold and exposure features of cameras are important
    • Sensitive to ambient light (better performance in the darker settings) alt text
  • Optitrack error Analysis: (To do)
  • Crazyflie current hovering falied tests

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