ROS 2 C++ package for streaming OptiTrack motion-capture data into the PX4 EKF as external vision. Converts ENU→NED, publishes PX4-compatible VehicleOdometry at a fixed rate, and optionally merges fused EKF outputs into a single full-state topic for control and logging.
control research drone robotics aerospace px4 vision motion-capture mocap quadrotor georgia-tech optitrack aerial-robotics quadrotor-flight-controller px4-autopilot px4-ros2 flight-laboratory optitrack-ros2-px4 external-vision evannsmc
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Updated
Feb 24, 2026 - C