Johnliu/optitrack emulation#367
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…handlers Refactor the emulator server around a pre-packed MODELDEF wire cache and add the NAT_REQUEST_MODELDEF and NAT_KEEPALIVE handlers so libNatNet 4.4 clients complete the unicast handshake. Mock a real Motive server (server name "Motive") and move hardcoded Drone reference constants into a new defaults.py so scene semantics stay out of the wire layer. Drop the vendored NatNet SDK README that should not live in-tree. Co-authored-by: Cursor <cursoragent@cursor.com>
…defaults Cover the MODELDEF/frame serializers, the unicast handshake protocol, and the defaults/server catalog. A package-level test/conftest.py puts the extension root on sys.path and registers the `unit` marker so `pytest test/` runs the suite directly without per-file boilerplate. Co-authored-by: Cursor <cursoragent@cursor.com>
…ture Add repo_path() and reexport_unit_tests() to tests/conftest.py so the thin proxy files re-export co-located package tests without hardcoded Path(__file__).parents[N] walks or per-file sys.path boilerplate; rewrite the robot and sim proxies to use them. Register the `integration` marker and the robot_autonomy_stack bring-up fixture (gated behind --run-integration) for the new integration tier. Co-authored-by: Cursor <cursoragent@cursor.com>
Introduce tests/integration/ as a new tier between unit and system: real components wired together (robot autonomy container + a host-side component) with no sim or GPU. Move the NatNet emulator <-> natnet_ros2 test here as the first resident (marks: integration, natnet), driven by the shared robot_autonomy_stack fixture, and remove the old tests/sim/motive_emulator location. Co-authored-by: Cursor <cursoragent@cursor.com>
Update AGENTS.md, tests/README.md, and the add-unit-tests / optitrack-development skills to describe the four test tiers (unit, integration, system), the repo_path/reexport_unit_tests proxy pattern, the --run-integration flag, and the new tests/integration/natnet location. Co-authored-by: Cursor <cursoragent@cursor.com>
NatNet emulator installation is baked into the isaac-sim image, bind-mounted for live edits, and enabled in Kit config. Co-authored-by: Cursor <cursoragent@cursor.com>
Remap vision_pose_converter to the interface/mavros namespace, install mavros_extras in the robot image, and add layered PX4_PARAM_PROFILE env files so Isaac SITL can fuse NatNet external vision (EKF2_EV_CTRL, no GPS, indoor mag disabled). Document the vision profile and provide an overrides bundle for NatNet + vision sim bring-up. Co-authored-by: Cursor <cursoragent@cursor.com>
PX4 with EKF2_GPS_CTRL=0 has valid local vision fusion but no global position, so AUTO.LOITER preflight fails until an origin is set. Add mavros_gp_origin_node to publish a one-shot set_gp_origin after MAVROS connects, skipping when a real origin already exists. Launched alongside vision_pose_converter when publish_to_mavros is enabled. Co-authored-by: Cursor <cursoragent@cursor.com>
…vertised tolerances
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What features did you add and/or bugs did you address?
Which GitHub issue does this address?
Additional description if not fully described in the GitHub issue
Please add videos and images to demonstrate the feature. Please upload videos to somewhere persistent (e.g. YouTube or Vimeo) for archival purposes.
How did you implement it?
How do you run and use it?
What commands and button presses do you use to manually launch the stack to use your new feature?
Write a detailed procedure with EXACT BASH COMMANDS so that another maintainer can replicate and understand the benefits of your feature, and reproduce the videos and images you added above.
Testing with PyTest
What pytests did you add to ensure the feature is reliable and robust? What metrics are used?
What's the exact command to run the pytests that test your feature? i.e.
airstack test -m ...What are the expected results of the tests? What should a maintainer look at to understand whether the test succeeded?
Documentation
Was mkdocs.yml updated? (y/n)
Do the docs have sufficient scope such that a newcomer can easily reproduce and use your feature?
Is there sufficient visual media?
Versioning
.envfile according to semantic versioning?