motion capture

[fangjir]

hello,my motion capture is not among the several mentioned in the document,so i want to know to solve the problem,or whether i receive the topic_vrpn/pose such as in figure8.py ,then use cmd_vel topic to control the crazyflie

[whoenig]

There seem to be two questions here. I am not sure what the second one is asking. For the first one: which motion capture system do you have and does it support ROS(2) with any package? Does it support VRPN?

[fangjir]

Hello, my mocap brand is not the one mentioned on the official website, but it supports VRPN, so I want to consider whether the following method is feasible, that is, I subscribe to the mocap topic in the script, and use the cmd_vel topic to control the aircraft.

[whoenig]

The documented list is not exhaustive, see https://github.com/IMRCLab/libmotioncapture for a full list. If your mocap supports VRPN, simply use VRPN as motion capture type.

What you describe is feasible, but would require you to write an external position controller yourself. The performance is not going to be as good as using an on-board controller, especially if you use multiple drones.