Indoor GPS synthesizer for ROS from Qualisys QTM (a motion capture system)

More documentation in fog_hyper documentation.

Development, debug

See documentation in container base image

Outdated documentation

WARNING: Rest of the docs are outdated regarding container-specific build/running.

Install dependencies

$ sudo apt update
$ sudo apt install ros-galactic-geodesy

Build

$ colcon build

Run

$ ros2 run mocap_pose mocap_pose_node --ros-args -p home_lat:=<latitude value> -p home_lon:=<longitude value> -p home_alt:=<altitude value> -p frequency:=<update freq>

example:

$ ros2 run mocap_pose mocap_pose_node --ros-args -p home_lat:=63.125562 -p home_lon:=21.572674 -p home_alt:=98.4 -p frequency:=10