Currently, I am able to get the drone track the target as in this video.
Since I need to compare different control algorithms, I need to get the drone's position ground truth. Anybody has some ideas on how to get this?
The first option I could think is to use the drone's GPS position. This one should be simple to use MAVROS to get GPS. However, it is very accurate.
The second option is to use some kind of Gazebo plugin to get the robot position.
The third option is to use GetPose utility. For eg:
gazebo::math::Pose pose = this->model->gazebo::physics::ModelState::GetPose();
Anybody has some suggestions on this?