ROS2 workspace running on RaspberryPi4 computer. Includes an optitrack data publishing node, that publishes positional data from the natnet datastream to a topic, and a pure-pursuit controller node, which publishes linear and angular velocity commands for the robots running microROS.
jakobrbr/optiAstaRos2_ws
ROS2 workspace for OptiTrack differential drive robot swarm (Bachelor project)
Makefile