
# optitrack
For the mocap in AIRlab, use the latest mocap package from optitrack.
```
roslaunch mocap_optitrack mocap.launch 
roslaunch bebop2_state_estimator position_velocity_orientation_estimator_multiple.launch
```

# check if it works well
```
rostopic echo /Bebop2/position_velocity_orientation_estimation 
```

# record data
first go to workspace, run 
```
source connect_tiago.bash
roslaunch datasaver data_collection_tiago.launch exp_nr:=0 
```

# run mpc
python nav_mpc/src/Tiago_control.py
