Question about marker configuration

[Vincent1029384756]

Hi,

I have questions about the way that the marker configurations are defined:

for example,
default_single_marker: offset: [0.0, -0.01, -0.04] points: p0: [0.0177184,0.0139654,0.0557585]

I wonder what the parameters 'offset' and p0 means, and what unit they are in.

Thank you

[Vincent1029384756]

I'm working on providing position feedback to my Crazyflie drones and here's my current approach:

• Connecting the Vicon computer to my ROS host computer via an Ethernet cable.
• Running a wrapper to convert the Vicon data into a ROS topic.

However, I've noticed that the motion_capture.yaml configuration file doesn't seem to have a field to specify the topic name for the Vicon data.

From older posts, I've seen people share their configurations for motion_capture.yaml and crazyflies.yaml. This made me wonder:

Does the crazyflie_server package already include its own Vicon wrapper?

If that's the case, would the following steps suffice to set everything up?

1. Hook the Vicon computer to my ROS host computer using an Ethernet cable.
2. Specify the IP address of the Vicon computer and the marker configuration in motion_capture.yaml.
3. Indicate which marker configuration to use in crazyflies.yaml.
4. Create objects in the Vicon software with names matching my Crazyflie drones.

Would this configuration be enough to get everything working?