IMRCLab / IMRCLab/motion_capture_tracking
Add an option to force quarternion to send NaNs
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- Dominant language
- C++
- Stars
- 83
- Forks
- 44
- PR merge metrics
- No merged PRs in 30d
Description
As discussed here in Crazyswarm2 latest PR, we would like to have an option to opt out of the quarternion sending, eventhough the MoCap sends something. In less ideal setups (like we have in our arena), the position is good but the orientation is buggy and we rather would like to use the internal orientation estimation.
I think this can be done with setting it in the config file and using this ifstatement in the code:
https://github.com/IMRCLab/motion_capture_tracking/blob/ef593e292b27e8df8daabb2e20910acea89c1c6b/motion_capture_tracking/src/motion_capture_tracking_node.cpp#L250
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with motion_capture_tracking/src/motion_capture_tracking_node.cpp around line 250 and review the linked conditional from the issue. Then locate the package configuration used by this node; done means a configuration option can suppress motion-capture orientation data while retaining position data.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100