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ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup
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mocap optitrack integration with mavros #13

Closed andrea-nisti closed 7 years ago

andrea-nisti commented 9 years ago

Hello, I tired to integrate the mocap_optitrack node to recieve from the system with mavros (https://github.com/mavlink/mavlink) in order to send data to the robot (IRIS quadcopter). I realized looking at the flight plots that the vision data are delayed by 0.7 seconds respect to data estimated onboard. This phenomenon is not happening with a program written in qt in order to send and recieve.

I integrated the sending Qt part in ros eliminating mavros and keeping mocap_optitrack to recieve, still same problem. Is it something related to publishing frequency of mocap_optitrack or maybe buffers senting copies of the same data? Any help is welcome.

orhirshfeld commented 9 years ago

Try to check for smoothing filter of the object properties in Motive.