OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e - #376

Draft

JohnYanxinLiu wants to merge 33 commits into

developfrom

johnliu/optitrack-isaac-wrapper

Commits on Aug 5, 2026

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

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

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

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

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

JohnYanxinLiu
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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

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

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

JohnYanxinLiu
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claude
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5ba5899
reject an unknown connection_type instead of defaulting to unicast

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

JohnYanxinLiu
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claude
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6528934
trim the external-vision tuning notes

JohnYanxinLiu
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0fcd299
feat(sim): add NatNet server emulator (protocol core) + register unit tests

JohnYanxinLiu
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claude
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8610b86
test(natnet): host integration tests — emulator server → natnet_ros2

JohnYanxinLiu
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claude
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7663b57
chore: bump version to 0.19.0-alpha.14
JohnYanxinLiu
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461204c
feat(sim): Isaac wrapper for the NatNet emulator (USD scene → server)

JohnYanxinLiu
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claude
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bf8cd01
test(natnet): dedicated OptiTrack sim e2e (optitrack mark)

JohnYanxinLiu
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claude
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50222c6
docs(natnet): emulator sim doc + optitrack-development skill

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claude
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d60d719
chore: bump version to 0.19.0-alpha.15
JohnYanxinLiu
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3aeb19a
fix(sim): register the NatNet emulator via the Kit ext-folder

JohnYanxinLiu
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claude
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a800869
make the sim actually fuse the mocap stream

JohnYanxinLiu
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claude
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3677e03
fly a circle on mocap fusion instead of asserting a topic exists

JohnYanxinLiu
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claude
committed
50b1371
enforce only the mocap circle flight on PR open

JohnYanxinLiu
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claude
committed
89c92e3
add an isaac natnet mocap override

JohnYanxinLiu
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claude
committed
26bbc9c
install the natnet emulator as a real Kit extension

JohnYanxinLiu
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claude
committed
71c7fff
set the streamed body in the script, not the environment

JohnYanxinLiu
and
claude
committed
650a438

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OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e - #376

OptiTrack (3/3): Isaac wrapper, mocap EV fusion in sim, and a Circle-trajectory e2e#376
JohnYanxinLiu wants to merge 33 commits into
developfrom
johnliu/optitrack-isaac-wrapper

Commits on Aug 5, 2026

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

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

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

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

chore: bump version to 0.19.0-alpha.13

fix(natnet): make the NatNet client actually reachable + correct EV tuning

Commits on Aug 13, 2026

add a real-robot OptiTrack deployment override

config bodies per robot profile; trim comments to the docs

put the mocap floor at the shared world datum

fail the build when the geoid dataset is missing

Commits on Aug 14, 2026

abbreviated Dockerfile comment on geographic lib installation

fix repo-root doc links in the external-vision guide

comment trim

point the companion-link section at the PX4 docs

frame section 4 around mavros_gp_origin, demote the 36 m note

reject an unknown connection_type instead of defaulting to unicast

px4 external vision docs trim

trim natnet node comments; note the latency figure is an estimate

trim the external-vision tuning notes

feat(sim): add NatNet server emulator (protocol core) + register unit tests

test(natnet): host integration tests — emulator server → natnet_ros2

chore: bump version to 0.19.0-alpha.14

feat(sim): Isaac wrapper for the NatNet emulator (USD scene → server)

test(natnet): dedicated OptiTrack sim e2e (optitrack mark)

docs(natnet): emulator sim doc + optitrack-development skill

chore: bump version to 0.19.0-alpha.15

fix(sim): register the NatNet emulator via the Kit ext-folder

make the sim actually fuse the mocap stream

fly a circle on mocap fusion instead of asserting a topic exists

enforce only the mocap circle flight on PR open

add an isaac natnet mocap override

install the natnet emulator as a real Kit extension

set the streamed body in the script, not the environment