{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/Devguide/pulls/comments/209513184","pull_request_review_id":145539137,"id":209513184,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwOTUxMzE4NA==","diff_hunk":"@@ -70,6 +81,41 @@ We call *x_{mav}*, *y_{mav}* and *z_{mav}* the coordinates that are sent through\n \n Regarding the orientation, keep the scalar part *w* of the quaternion the same and swap the vector part *x*, *y* and *z* in the same way. You can apply this trick with every system; you need to obtain a NED frame, look at your mocap output and swap axis accordingly.\n \n+## Specific System Setups\n+\n+### OptiTrack MOCAP\n+\n+The following steps explain how to feed position estimates from an [OptiTrack](http://optitrack.com/systems/#robotics) system to PX4. It is assumed that the MOCAP system is calibrated. See [this video](https://www.youtube.com/watch?v=cNZaFEghTBU) for a tutorial on the calibration process.\n+\n+**Steps to do on the MOCAP software, Motive**\n+\n+* Align your robot's forward direction with the the [system +x-axis](https://v20.wiki.optitrack.com/index.php?title=Template:Coordinate_System)\n+* [Define a rigid body in the Motive software](https://www.youtube.com/watch?v=1e6Qqxqe-k0). Give the robot a name that does not contain spaces, e.g. `robot1` instead of `Rigidbody 1`\n+* [Enable Frame Broadacst and VRPN streaming](https://www.youtube.com/watch?v=yYRNG58zPFo)\n+* Set the Up axis to be the Z axis (the default is Y)\n+\n+**Getting pose data into ROS**\n+\n+* Install the `vrpn_client_ros` package\n+* You can get each rigid body pose on an individual topic by running\n+```bash\n+roslaunch vrpn_client_ros sample.launch server:=<mocap machine ip>\n+```\n+If you named the rigidbody as `robot1`, you will get a topic like `/vrpn_client_node/robot1/pose`\n+\n+**Relaying pose data to PX4**\n+\n+MAVROS provies a plugin to relay pose data published on `/mavros/vision_pose/pose` to PX4. Assuming that MAVROS is running, you just need to relay the pose topic that you get from MOCAP `/vrpn_client_node/<rigid_body_name>/pose` directly to `/mavros/vision_pose/pose`. This can be easily done using the `topic_tools` package as follows,\n+\n+```bash\n+rosrun topic_tools relay /vrpn_client_node/<rigid_body_name>/pose /mavros/vision_pose/pose","path":"en/ros/external_position_estimation.md","position":54,"original_position":54,"commit_id":"55c69b38bc08a961827ba1ea4274c0889df15be3","original_commit_id":"55c69b38bc08a961827ba1ea4274c0889df15be3","user":{"login":"mhkabir","id":5557676,"node_id":"MDQ6VXNlcjU1NTc2NzY=","avatar_url":"https://avatars1.githubusercontent.com/u/5557676?v=4","gravatar_id":"","url":"https://api.github.com/users/mhkabir","html_url":"https://github.com/mhkabir","followers_url":"https://api.github.com/users/mhkabir/followers","following_url":"https://api.github.com/users/mhkabir/following{/other_user}","gists_url":"https://api.github.com/users/mhkabir/gists{/gist_id}","starred_url":"https://api.github.com/users/mhkabir/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mhkabir/subscriptions","organizations_url":"https://api.github.com/users/mhkabir/orgs","repos_url":"https://api.github.com/users/mhkabir/repos","events_url":"https://api.github.com/users/mhkabir/events{/privacy}","received_events_url":"https://api.github.com/users/mhkabir/received_events","type":"User","site_admin":false},"body":"Unnecessary. Just remap the topic instead of relaying, which adds latency. 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