Motion Capture System Simulator Base on Gazebo, can be use for vehicle position Estimate
pip install GazeboMotionCapture git submodule update --init --recursive#example with dronekit
print "Start simulator (SITL)"
import dronekit_sitl
sitl = dronekit_sitl.start_default()
connection_string = sitl.connection_string()
# Import DroneKit-Python
from dronekit import connect, VehicleMode
# Connect to the Vehicle.
print("Connecting to vehicle on: %s" % (connection_string,))
vehicle = connect(connection_string, wait_ready=True)
import time
import GazeboMotionCapture
position_estimate = GazeboMotionCapture.PositionEstimate()
def callback(id, position, orientation):
print(id, position, orientation)
if not position_estimate.init:
position_estimate.first_position = position
position_estimate.init = True
position_estimate.receive_new_position(position[0], position[1], position[2])
if position_estimate.is_ready():
msg = vehicle.message_factory.att_pos_mocap_encode(
int(round(time.time() * 1000)),
orientation,
position_estimate.ned_position[0],
position_estimate.ned_position[1],
position_estimate.ned_position[2])
vehicle.send_mavlink(msg)
GazeboMotionCapture.callback = callback
motion_capture = GazeboMotionCapture.create_motion_capture(('192.168.1.49', 11345))
motion_capture.start()
time.sleep(10)
motion_capture.exit()
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