ATMOS Vehicle Mocap Odom

A ROS 2 package that bridges motion capture (mocap) Odometry messages to PX4 VehicleVisualOdometry messages.

• Assumes the mocap system uses the East-North-Up (ENU) frame.
• PX4 expects data in the North-East-Down (NED) frame.

---

Usage Examples

On ATMOS Robots

To run with the default configuration (using the machine’s hostname as the namespace):

ros2 run vehicle_mocap_odom vehicle_mocap_odom_node

This will subscribe to:

/<hostname>/odom

And publish to:

/<hostname>/fmu/in/vehicle_visual_odometry

Specifying a Namespace

When running in simulation (e.g. SITL), you can explicitly set the namespace:

ros2 run vehicle_mocap_odom vehicle_mocap_odom_node --ros-args -p namespace:=your_namespace

This will subscribe to:

/your_namespace/odom

And publish to:

/your_namespace/fmu/in/vehicle_visual_odometry