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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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Different qos for mocap and crazyswarm #7

Open SkogsTomte opened 10 months ago

SkogsTomte commented 10 months ago

I am running crazyswarm2 with qualisys and encountered the problem that the messages published to /poses from the mocap node could not be read by crazyswarm server because the messages had different qos. These were the warnings:

[crazyflie_server-4] [WARN] [1693406308.889943154] [crazyflie_server]: New publisher discovered on topic '/poses', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: DEADLINE_QOS_POLICY [motion_capture_tracking_node-1] [WARN] [1693406308.902118724] [motion_capture_tracking]: New subscription discovered on topic '/poses', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: DEADLINE_QOS_POLICY

I solved it by defining qos for the publisher in motion_capture_tracking_node.cpp to fit what is expected from crazyswarm, but i suspect there is an easier way, as there seem to be an option for qos in the motion_capture_tracking config file in the crazyswarm2 package. Now it says sensor, but I don't know how to change it for it to work with qualisys

whoenig commented 10 months ago

Did you pull the latest changes from this repository (ros2 branch)? If you have an older version, it doesn't know about the new config file option.