The Hinsdale Wave Facility provides access to a Qualisys motion capture (mocap) system which streams high-resolution position information. While the ArUco marker detection might be sufficient, it will be difficult to maintain and achieve consistent results with. The mocap system can replace this with a more suitable and accurate position tracker.
Feature Description
Implement a new source interface using the Qualisys Python SDK and publish the resulting pose information. A localizer should also be implemented to subscribe to this position information and send the data to the ArduSub EKF using the visual navigation information.
Alternative Solutions
A Qualisys ROS 1 package exists for interfacing with a mocap system using ROS. The ros_bridge could be used to avoid needing to implement a custom source. However, the provided SDK offers a simple interface that will not require a significant effort to integrate with.
Feature Type
Adding new functionality to Angler
Problem Description
The Hinsdale Wave Facility provides access to a Qualisys motion capture (mocap) system which streams high-resolution position information. While the ArUco marker detection might be sufficient, it will be difficult to maintain and achieve consistent results with. The mocap system can replace this with a more suitable and accurate position tracker.
Feature Description
Implement a new source interface using the Qualisys Python SDK and publish the resulting pose information. A localizer should also be implemented to subscribe to this position information and send the data to the ArduSub EKF using the visual navigation information.
Alternative Solutions
A Qualisys ROS 1 package exists for interfacing with a mocap system using ROS. The ros_bridge could be used to avoid needing to implement a custom source. However, the provided SDK offers a simple interface that will not require a significant effort to integrate with.
Additional Context
No response