Heres a list of the relevant configuration files from the project, let me know if you need more files from our project

swarm_config_file .yaml
motion_controller.yaml
platform_config_mocap.yaml
cf0_state_estimator.yaml
cf1_state_estimator.yaml
optitrack.yaml
swarm_config_file.yaml
platform_config_file.yaml
mocap.yaml

1. swarm_config_file.yaml
   yaml
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   cf0:
   uri: radio://0/80/1M/E7E7E7E701
   cf1:
   uri: radio://0/80/1M/E7E7E7E702
   cf2:
   uri: radio://0/80/1M/E7E7E7E703

2. motion_controller.yaml
   yaml
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   /**:
   ros__parameters:
   cmd_freq: 10.0 # Hz of platform commands send standard is 100
   info_freq: 10.0 # Hz of platform info publish standard is 100
   odom_frame_id: "odom"
   base_frame_id: "base_link"
   use_bypass: true

3. platform_config_mocap.yaml
   yaml
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   /**:
   ros__parameters:
   cmd_freq: 10.0 # Hz of platform commands send standard is 100
   info_freq: 10.0 # Hz of platform info publish standard is 100
   external_odom: true # Availability of external odometry
   external_odom_topic: "self_localization/pose" # External odometry topic name self_localization/pose
   controller_type: 1 # Controller type Any(0), PID(1), Mellinger(2), INDI(3)
   estimator_type: 2 # Estimator type Any(0), complementary(1), kalman(2)

4. cf0_state_estimator.yaml
   yaml
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   /**:
   ros__parameters:
   use_ignition_tf: True
   rigid_body_name: "1"
   mocap_topic: "mocap/rigid_bodies" #/ground_truth/pose"
   twist_smooth_filter_cte: 0.1
   orientation_smooth_filter_cte: 0.1

5. cf1_state_estimator.yaml
   yaml
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   /**:
   ros__parameters:
   use_ignition_tf: True
   rigid_body_name: "2"
   mocap_topic: "mocap/rigid_bodies"
   twist_smooth_filter_cte: 0.1
   orientation_smooth_filter_cte: 0.1

6. optitrack.yaml
   yaml
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   /**:
   ros__parameters:
   connection_type: "Multicast" # Unicast / Multicast
   server_address: "192.168.68.50"
   local_address: "192.168.68.52"
   multicast_address: "239.255.42.99"
   server_command_port: 1510
   server_data_port: 1511

7. swarm_config_file.yaml
   yaml
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   /cf1:
   platform:
   ros__parameters:
   uri: "radio://0/1/1M/E7E7E7E701"
   aideck_pub:
   ros__parameters:
   cam:
   ip: "192.168.0.109"
   port: 5000
   calibration_file: "camera_calibration.yaml"

/cf2:
platform:
ros__parameters:
uri: "radio://0/1/1M/E7E7E7E702"

/cf3:
platform:
ros__parameters:
uri: "radio://0/1/1M/E7E7E7E703"

8. platform_config_file.yaml
   yaml
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   /**:
   ros__parameters:
   cmd_freq: 100.0 # Hz of platform commands send
   info_freq: 100.0 # Hz of platform info publish
   external_odom: true # Availability of external odometry
   external_odom_topic: "self_localization/pose" # External odometry topic name
   controller_type: 1 # Controller type Any(0), PID(1), Mellinger(2), INDI(3)
   estimator_type: 2 # Estimator type Any(0), complementary(1), kalman(2)
   multi_ranger_deck: false # Availability of multi ranger deck

9. mocap.yaml
   yaml
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Definition of all trackable objects

Identifier corresponds to Trackable ID set in Tracking Tools

/**:
ros__parameters:
rigid_bodies:
1:
pose: "ground_truth/pose"
pose2d: "Robot_1/ground_pose"
child_frame_id: ""
parent_frame_id: ""
2:
pose: "ground_truth/pose2"
pose2d: "Robot_2/ground_pose"
child_frame_id: ""
parent_frame_id: ""
3:
pose: "ground_truth/pose3"
pose2d: "Robot_3/ground_pose"
child_frame_id: ""
parent_frame_id: ""
optitrack_config:
multicast_address: "239.255.42.99"
command_port: 1510
data_port: 1511`