How to integrate the external vision(Mocap) pose into M500 correctly?



  • Hello, I am trying to integrate the Mocap pose into EKF2 in PX4 instead of VIO pose. The following post includes the details about how I implement it and the issue that I am facing now.

    https://forum.modalai.com/topic/919/using-motion-capture-systems-optitrack-for-position-estimation?_=1656684369047

    Since there are two pose sources: Mocap pose and VIO pose, therefore I have to disable the VIO pose. I tried to set the parameter "en_vio: false" which is in voxl-vision-px4.conf file, but once I have done that, the server voxl-vision-px4 seems been disabled(when I enable the en_vio, then I use voxl-inspect-pose command to check the pose data, it works fine; However, when I disable the en_vio, then I use voxl-inspect-pose command to check the pose data, it shows ‘waiting for server at /run/mpa/vvpx4_body_wrt_fixed/’).

    Therefore, I can conclude that once I disable the en_vio, the server voxl_vision_px4 server is also been disabled, and then my Mocap_pose is also been disabled? How can I disable the VIO pose but meanwhile the Mocap pose can be sent to PX4?


  • Dev Team

    I think you'll need to create a new service that behaves like voxl-qvio-server ? That might be the easiest if you want to drop it. Maybe try copying qvio-server and modifying to publish mocap data?


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