OptiTrack (2/3): NatNet server emulator + host integration tests#375
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JohnYanxinLiu wants to merge 3 commits into
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OptiTrack (2/3): NatNet server emulator + host integration tests#375JohnYanxinLiu wants to merge 3 commits into
JohnYanxinLiu wants to merge 3 commits into
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… tests The pure-Python NatNet server that emulates an OptiTrack Motive server so natnet_ros2 can be driven without hardware. USD/Isaac-free — this is the protocol + server core (unicast server, data/model/server types, serializers, default catalogs). The Isaac wrapper that maps a USD scene onto this server lands next. Registers the emulator package's co-located unit tests via a `sim:` entry in tests/colcon_unit_test_packages.yaml (base's simulation/**/<pkg>/test glob). The root conftest now puts each unit-test package's import root on sys.path so co-located tests import their package without a per-package conftest.py. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Drive the real natnet_ros2 client from the host NatNet server emulator and check the drone pose reaches ROS at rate (single-body and multi-body profiles). No sim, no GPU — uses the base's `robot_autonomy_stack` fixture + `integration` mark. The Isaac-wrapper variant lands with the Isaac wrapper PR. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Version-increment gate for the NatNet server PR (base optitrack-autonomy alpha.9). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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2 of 3 in the OptiTrack split. Stacked on 1/3 (
optitrack-autonomy).optitrack.natnet.emulator, protocol core) — pure-Python OptiTrack Motive server emulation (unicast server, data/model/server types, serializers, default catalogs). USD/Isaac-free.sim:entry incolcon_unit_test_packages.yaml; root conftest puts each unit-test package's import root onsys.path(no per-packageconftest.py, avoids a--import-mode=importlibcollision).tests/integration/natnet/,integrationmark, no GPU): drive the realnatnet_ros2client from the emulator and check pose Hz (single- + multi-body).Tests:
-m unitgreen incl. the 4 server test files (61 total);-m integration= 2 server-only cases. The Isaac-wrapper variants land in 3/3.Version:
0.19.0-alpha.10. Base:johnliu/optitrack-autonomy(1/3).🤖 Generated with Claude Code