# PX4+ROS2 Vicon Receiver

Code author: [Evanns Morales-Cuadrado](mailto:egm@gatech.edu)

Find the repo [on Github, here](https://github.com/evannsm/ros2-vicon-receiver/tree/master).

A ROS 2 (C++) package that streams Vicon motion capture data into the PX4 EKF as an external vision source, enabling position and heading fusion for hardware flight experiments. The package converts Vicon ENU measurements to NED, and publishes pose data in quaternions as well as Euler angles under the rigid body name as defined in Vicon Tracker.

Another launch file then relays this information for use in PX4 External Vision EKF Fusion by publishing the data as `px4_msgs/msg/VehicleOdometry` messages on `/fmu/in/vehicle_visual_odometry`, and handles the quaternion reordering and timestamping that PX4 expects. A secondary full-state relay node is available to merge the fused EKF output back from `/fmu/out/vehicle_odometry`, and `/fmu/out/vehicle_local_position` into one topic that relays all pose data including available higher order derivatives from the EKF for convenient logging and control.

Derived from [ROS2-Vicon-Receiver](https://github.com/OPT4SMART/ros2-vicon-receiver). Tested with ROS 2 Jazzy Jalisco (Ubuntu 24.04) and Humble Hawksbill (Ubuntu 22.04).