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evannsm / vicon4px4

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ROS 2 C++ package for streaming Vicon 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.

tracking research hardware aerospace px4 flight-controller vision motion-capture mocap quadrotor ros2 georgia-tech px4-firmware vicon aerial-robotics px4-autopilot ros2-control vicon-ros2-px4 flight-laboratory evannsmc
  • Updated Feb 24, 2026
  • C++

evannsm / optitrack4px4

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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
  • Updated Feb 24, 2026
  • C

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