optitrack

OptiTrack NatNet mocap integration — natnet_ros2 client + PX4 external-vision fusion bridges on the robot, and the Motive-compatible NatNet server emulator for Isaac Sim

Repository	castacks/asm_optitrack
Type	ros_package
Maintainer	ajong@andrew.cmu.edu
License	BSD-3-Clause-Clear
Registered ref	be4e0c141ab8
Declared compat	>=0.19.0-alpha.18 <0.20.0
Registry entry	modules/optitrack.yaml

Install

From an AirStack checkout (AirStack Modules guide):

airstack module add https://github.com/castacks/asm_optitrack --version be4e0c141ab8fd7248119faa7950004dd56136a3
airstack up

module add pins the module in modules.repos and syncs it into the gitignored modules/ overlay; airstack up automatically includes the generated compose override that mounts it into the containers.

Compatibility: declared vs verified

The range >=0.19.0-alpha.18 <0.20.0 is DECLARED by the module author (copied from the module's module.yaml). The VERIFIED record — rows stamped exclusively by CI runs of the reusable module-system-tests workflow — lives in the registry's compat/ matrix (compat/optitrack.yaml once stamped). A compatibility claim that isn't CI-verified rots: trust the matrix, read the declaration as intent.

Documentation

• Module README on GitHub @ be4e0c141ab8
• A snapshot of the module repo was fetched into modules/optitrack/ when this page was generated (docs deploy fetch step).

Registered stacks using this module

• None yet. Any stack can pin it in its modules.repos (AirStack Stacks).

Registry notes

registered_ref is a commit SHA because no release tag exists yet: v0.1.0 is pending the first green module-system-tests.yml CI run. Validated end-to-end locally on 2026-08-20 — declared marks integration + liveliness + optitrack (full EV-fusion flight e2e) in the module's test_stack on Isaac Sim. Builds against the proprietary OptiTrack NatNet SDK, fetched host-side by hooks.host_setup (never in git, never in images); CI passes NATNET_ACCEPT_LICENSE=1 via hook_env.