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IMRCLab / motion_capture_tracking

ROS Package for different motion capture systems, including custom rigid body tracking support
MIT License
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Disable or throttle warnings update pose #5

Open knmcguire opened 1 year ago

knmcguire commented 1 year ago

The packages gives a lot of warnings about poses not being updated,does that mean that the stream is coming in too slow per rigid body? The crazyflies do fly normally

Anyway, I'm getting so many warnings that I can not read the crazyswarm server output normally either...

perhaps we can add a parameter that disables this warnings or throttles it somehow? https://github.com/IMRCLab/motion_capture_tracking/blob/ef593e292b27e8df8daabb2e20910acea89c1c6b/motion_capture_tracking/src/motion_capture_tracking_node.cpp#L265

whoenig commented 1 year ago

This warning usually means that there is a serious problem and it shouldn't be ignored.

Nevertheless, I agree that we need such an option. I have the same use-case for "debugging" after a crash: since after a crash the motion capture package "spams" the console, it is hard to tell what happened otherwise in the system.

Technically, it is not trivial to throttle: We would need to add threading to the node. Moreover, some messages come from submodules (libmotioncapture, librigidbodytracker). We would need to "cache" those messages, or change the submodules to output some sort of error codes rather than string messages, so that we can automatically condense/throttle without losing important information.