ROS Navigation Scheme with OptiTrack

Welcome to the ROS Navigation Scheme repository! This repository contains a ROS package developed using rospy to enable a drone to navigate to any position within an OptiTrack motion capture system area. This guide provides instructions on how to set up, run, and understand the navigation scheme.

Table of Contents

• Introduction
• Features
• Prerequisites
• Installation
• Usage

Introduction

This ROS package provides a navigation scheme that allows a drone to fly to specified positions within an OptiTrack motion capture system area. The system leverages ROS for communication and control, and the OptiTrack system for precise position tracking.

Features

• Position Control: Navigate to any specified position within the OptiTrack area.
• ROS Integration: Utilizes ROS for communication and control.
• OptiTrack Integration: Leverages OptiTrack for accurate position tracking.

Prerequisites

Before you begin, ensure you have the following installed:

• ROS (Robot Operating System)
• OptiTrack Motion Capture System (windows pc)
• Python 3.x
• rospy
• Additional ROS packages as required (e.g., geometry_msgs, std_msgs)

Installation

1. Install VRPN Client Ros:

   sudo apt install ros-noetic-vrpn-client-ros
   

2. Clone this repository: clone this repository into the src folder of your catkin workspace

   cd ~/catkin_ws/src
   git clone https://github.com/Yacynte/ros-optitrack.git
   cd ros-optitrack-navigation
   

3. Build Package:

   cd ~/catkin_ws
   catkin_make
   

4. Network Setup: The Tello DJI drone cannot have direct communications between the connected devices. To enable the streaming of OptiTrack data from one PC to another, a range extender is required. The network setup is illustrated in the following diagram:

   

   In this setup: The Hotspot provides the initial network connection. The Range Extender connects to the Hotspot and extends the network. PC 1 and PC 2 are connected to the Range Extender via Ethernet or Wi-Fi. This configuration ensures that OptiTrack data can be streamed from one PC to another, facilitating the control and navigation of the Tello DJI drone.

Usage

1. Run the Navigation Node:

   roslaunch ros-optitrack tello_optitrack.launch & rosrun rviz rviz -f world
   

• add tf on rviz display window