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vicon_nodes

Package for experimenting in vicon motion capture with turtlesim

Note: Not a part of the duckietown project

Implementation

Note: Early Prototype of Development --- Not Finalized

Instructions on how to run:

  1. Create a vicon object called "duckiecar_1" and make sure "vicon/duckiecar_1/duckiecar_1" is advertising on your system

  2. catkin build

  3. roslaunch vicon_nodes vicon_turtle.launch

  4. Move your vicon object

Problems that need to be solved

  1. Pretty Buggy - Not that accurate with tracking movement of vicon object
  2. Angle from Quaternion is the most inaccurate with the current system
  3. If vicon arena is coordinated differently, alter DesPose values in the callback function: vs_cb at the bottom.