Starting Afresh

[sesem738]

Hello,

I just acquired the Crazyflie AI Deck. I want to be able to use Optitrack for pose. I want to ask if I could get a step-by-step guide on how to get crazyswarm ros and optitrack to follow a simple trajectory. Thank you

[whoenig]

The main documentation is here: https://imrclab.github.io/crazyswarm2. I noticed that there is not much about the motion capture system, but you can find some background information here: https://crazyswarm.readthedocs.io/en/latest/configuration.html. The figure8 example script is essentially a trajectory, so your goal should be to get that working (first in simulation, then with the real robot).

[sesem738]

I tried the example on https://github.com/IMRCLab/libmotioncapture for Optitrack, but I don't receive any pose data. When I set it to VRPN, I get the pose data. What might be wrong?

[whoenig]

Perhaps not enabled in Motive, or the ports are different from the default settings.