OptiTrack e2e: NatNet emulator + real-robot PX4 external-vision fusion#373

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JohnYanxinLiu wants to merge 8 commits into

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johnliu/optitrack-e2e

Commits on Jul 23, 2026

feat(sim): add OptiTrack NatNet emulator isaac-sim extension + natnet launch scripts

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feat(perception): bring natnet_ros2 client up to the optitrack_emulation baseline

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feat(natnet): real-robot PX4 external-vision fusion (mocap → EKF2)

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test(natnet): register emulator unit tests via the package YAML + deps

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test(natnet): host integration test + dedicated sim e2e (optitrack mark)

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docs(natnet): PX4 external-vision setup guide + height-datum explainer

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test(natnet): loosen emulator pose tolerance for float32/USD noise

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chore: bump version to 0.19.0-alpha.9

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