add a real-robot OptiTrack deployment override

Mocap counterpart to l4t-px4-realrobot.env: same Jetson stack, plus the NatNet
server/body settings and LAUNCH_NATNET.

Carries the two things that are easy to get wrong and produce no error. The body id
must match Motive's streaming id, since the client filters frames numerically and a
mismatch just never publishes. And nothing writes the EKF2 external-vision parameters
to a real FCU — px4_param_setter only reads them back and warns — so they have to be
set once in QGroundControl.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>

Author: JohnYanxinLiu

CHANGELOG.md

@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- `overrides/l4t-optitrack-realrobot.env` — deployment override for a real Jetson robot flying on OptiTrack mocap (PX4 EKF2 external vision instead of GPS): the NatNet server/body settings, plus the multi-NIC and FCU-parameter notes that path needs
 - Feature notebook workflow (`use-feature-notebook` skill): every agent-implemented feature gets a local, gitignored `notebook/NNN-feature-slug/` entry with a status-tracked `design_spec.md` (written before coding) and `results/` artifacts + self-contained `results_summary.md` that populate the feature's PR description
 - Battery and telemetry display in GCS RQT control panel (voltage and percentage per robot when MAVROS battery topic is bridged)
 - `TARGET_ARCH` build arg (default `x86_64`) in `Dockerfile.robot` to arch-parametrize `LD_LIBRARY_PATH`; `docker-compose.yaml` passes `TARGET_ARCH: aarch64` to the `voxl` and `l4t` real-robot image builds

overrides/l4t-optitrack-realrobot.env

@@ -0,0 +1,78 @@
+# Real-robot deployment on an NVIDIA Jetson (aarch64 / l4t) flying on OptiTrack mocap:
+# PX4 EKF2 fuses the mocap pose as external vision instead of GPS.
+#
+# Same as overrides/l4t-px4-realrobot.env plus the OptiTrack path. Use that file instead
+# if the vehicle flies on GPS.
+#
+# Build (first time / after image changes):
+#   airstack image-build --profile l4t robot-l4t
+# Run:
+#   airstack up --env-file overrides/l4t-optitrack-realrobot.env robot-l4t
+#
+# Data path:
+#   Motive -> natnet_ros2 -> vision_pose_converter
+#   -> /{robot}/interface/mavros/vision_pose/pose_cov -> PX4 EKF2
+#
+# Setup guide, including the PX4 parameters this expects on the FCU:
+#   docs/robot/px4_external_vision.md
+
+# Only bring up the Jetson stack (robot-l4t + zed-l4t).
+COMPOSE_PROFILES="l4t"
+
+# Launch the autonomy stack automatically on container start.
+AUTOLAUNCH="true"
+NUM_ROBOTS="1"
+
+# Launches entire robot autonomy stack
+AUTONOMY_ROLE="full"
+
+# --- Robot identity -----------------------------------------------------------
+# Resolved from this device's hostname: name the Jetson robot-1 on the HOST
+# Run the following: ``hostnamectl set-hostname robot-1``
+#   resulting in robot_1 on domain 1.
+# A hostname that matches no rule in default_robot_name_map.yaml falls through to
+# unknown_robot on domain 0; the container prints a warning at shell start when it does.
+
+# --- OptiTrack / NatNet -------------------------------------------------------
+LAUNCH_NATNET="true"
+
+# IP of the PC running Motive. THE ONE SETTING THAT ALWAYS DIFFERS PER SITE — there is no
+# sensible default, so set it before the first flight.
+NATNET_SERVER_IP="192.168.1.100"
+
+# Rigid body to track. The NatNet client filters incoming frames by NUMERIC id, so the id
+# must match the rigid body's streaming id in Motive exactly — a mismatch gives you a
+# client that connects and then never publishes, with no error. The name is matched
+# case-sensitively and is only used for logging/lookup.
+NATNET_BODY_NAME="Drone"
+NATNET_BODY_ID="1"
+
+# Multi-NIC note: natnet_config.yaml binds client_ip 0.0.0.0 by default. Motive learns
+# where to send unicast data from the inbound packet's source IP, so if this Jetson has
+# both wifi and a wired link to the OptiTrack LAN, confirm the mocap traffic actually
+# leaves the wired interface.
+#
+# Also make sure the OptiTrack LAN link does not hand out DNS or a default route, or its
+# router will hijack name resolution and take down internet access over wifi:
+#   nmcli con mod "<wired connection>" ipv4.ignore-auto-dns yes ipv4.never-default yes
+
+# --- Flight controller (MAVROS) ----------------------------------------------
+# Jetson UART. Note some airframes wire the FCU through an external USB-serial adapter
+# instead, in which case this is e.g. /dev/ttyUSB0:921600 — check yours.
+FCU_URL="/dev/ttyTHS4:115200"
+
+# PX4 EKF2 must be configured for external vision (EKF2_EV_CTRL, EKF2_HGT_REF, GPS off,
+# ...). Unlike the sim — where the same parameters are pushed at SITL boot — nothing here
+# writes them to a real FCU. Set them once in QGroundControl per the setup guide above.
+# On startup px4_param_setter READS them back and warns on any mismatch (it is a checker
+# by default, auto_set: false in natnet_ros2/config/px4_params.yaml), so a missed
+# parameter shows up in the logs rather than in the air.
+
+# --- Robot description (PX4 iris w/ sensors; override for your airframe) ------
+URDF_FILE="robot_descriptions/iris/urdf/iris_with_sensors.pegasus.robot.urdf"
+
+# --- Flight-data recording ----------------------------------------------------
+# Where rosbags land on the host (bind-mounted to /bags in-container). RECORD_BAGS brings
+# the recorder up; start/stop it from the GCS control panel.
+BAG_STORAGE_PATH="/media/airlab/Storage/airstack_collection"
+RECORD_BAGS="false"