Team B F24 Entry: External Pose Estimation with OptiTrack Motion Capture

[kavin-cmu]

This guide walks you through the complete setup and use of the OptiTrack Motion Capture system for external pose estimation of a robot. Starting with a calibrated motion capture setup, the guide details the process of affixing IR reflective markers on the robot, ensuring their optimal placement for accurate tracking. It further describes how to configure the Motive software to recognize the robot as a unique entity within the system. Essential processes covered include the streaming of the robot's pose over the network using the NaturalNetwork pipeline, and how to integrate this data into ROS-centric applications using the natnet_ros_cpp package. By following these instructions, you can effectively utilize the OptiTrack system for precise motion tracking and pose estimation to enhance robotics applications in environments where GPS is not viable.