search

IMRCLab / motion_capture_tracking

ROS Package for different motion capture systems, including custom rigid body tracking support
MIT License
30 stars 26 forks source link

Tracking the twist #16

Closed Omikaa closed 7 months ago

Omikaa commented 8 months ago

Hello, I am using the "NOKOV" Mocap to track crazyflies. Now I want to control the cf with python API , and I've seen the example that is 'crazyflie-lib-python/examples/mocap/mocap_hl_commander.py'. However, in that example, I can only get 'pose' from mocap. Are there any possibilities to get the Mocap's twist topic with motion_capture_tracking? If possible, how can I log twist in the mocap thread? Thank you, and wish for rapid reply!!! https://github.com/bitcraze/crazyflie-lib-python/blob/master/examples/mocap/mocap_hl_commander.py

whoenig commented 8 months ago

Not entirely sure what you mean by twist, but you do get both position and orientation, see https://github.com/bitcraze/crazyflie-lib-python/blob/a77b4023867c27d814c6820373ec2a7d158a2ef5/examples/mocap/mocap_hl_commander.py#L104-L105.

Omikaa commented 8 months ago

Yes，I know that. What I mean are the linear velocity and angular velocity of a quadrotor. Nokov mocap can publish a topic that includes the linear velocity and angular velocity.So I want to know if I can get those in mocap_hl_commander.py.

whoenig commented 7 months ago

No, that is currently not possible. You could estimate it yourself numerically.

Omikaa commented 7 months ago

OK，Thanks for your reply.