Viconmavlink: A software tool for indoor positioning using a motion capture system

TL;DR

ViconMAVLink is an open-source software that transforms Vicon motion capture data into MAVLink-compatible localization information, facilitating indoor robot positioning for research and experimentation.

Contribution

It introduces a cross-platform tool that seamlessly integrates Vicon motion capture data with MAVLink protocol for indoor robot localization.

Findings

Enables real-time indoor positioning for networked robots.

Supports cross-platform operation and open-source distribution.

Simplifies experimental setup in controlled environments.

Abstract

Motion capture is a widely-used technology in robotics research thanks to its precise posi tional measurements with real-time performance. This paper presents ViconMAVLink, a cross-platform open-source software tool that provides indoor positioning services to networked robots. ViconMAVLink converts Vicon motion capture data into proper pose and motion data formats and send localization information to robots using the MAVLink protocol. The software is a convenient tool for mobile robotics researchers to conduct experiments in a controlled indoor environment.