OptiTrack (1/3): robot-side NatNet client + PX4 external-vision fusion - #374

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JohnYanxinLiu wants to merge 19 commits into

johnliu/optitrack-autonomy

Commits on Aug 5, 2026

feat(perception): bring natnet_ros2 client up to the optitrack_emulation baseline

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df38ac6
feat(natnet): real-robot PX4 external-vision fusion (mocap → EKF2)

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05e44a2
docs(natnet): PX4 external-vision setup guide + height-datum explainer

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170f714
feat(perception): point natnet launch include at the natnet_config schema

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44ecdc6
chore: bump version to 0.19.0-alpha.13
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6b0eb12
fix(natnet): make the NatNet client actually reachable + correct EV tuning

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claude
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2071bdb

Commits on Aug 13, 2026

Commits on Aug 14, 2026

abbreviated Dockerfile comment on geographic lib installation
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691fee0
fix repo-root doc links in the external-vision guide

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5fc20f3
comment trim
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a8db780
point the companion-link section at the PX4 docs

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b1f9372
frame section 4 around mavros_gp_origin, demote the 36 m note

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5ba5899
reject an unknown connection_type instead of defaulting to unicast

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5dbd68c
px4 external vision docs trim
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0264cb2
trim natnet node comments; note the latency figure is an estimate

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6528934
trim the external-vision tuning notes

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0fcd299