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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
MIT License
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Crazyflies don't take off #157

Closed BIsichei closed 3 years ago

BIsichei commented 5 years ago

Hello, I'm having issues running hover_swarm.launch.

I'm running on Ubuntu 16.04 and using optitrack cameras for motion capture. I've followed the instructions on getting started with crazyswarm, and so far I've

My issue so far is that whenever I try to run hover_swarm,

started roslaunch server http://Unit-1:33737/

SUMMARY

PARAMETERS

NODES / crazyswarm_server (crazyswarm/crazyswarm_server) crazyswarm_teleop (crazyswarm/crazyswarm_teleop) joy (joy/joy_node) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[crazyswarm_server-1]: started with pid [14746] process[joy-2]: started with pid [14747] process[crazyswarmteleop-3]: started with pid [14753] process[rviz-4]: started with pid [14770] [ INFO] [1559770805.378648537]: Wait for services... [ INFO] [1559770805.379331598]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1559770805.401090219]: waitForService: Service [/emergency] is now available. [ INFO] [1559770805.405665967]: Manager ready. [ INFO] [1559770805.415174831]: Opened joystick: /dev/input/js0. deadzone: 0.050000. ch: 1 [ INFO] [1559770805.532872004]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)... [ INFO] [1559770805.551869437]: CF ctor: 0.018904 s [ INFO] [1559770805.553984875]: [cf1] Requesting parameters... [ WARN] [1559770805.556174624]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ WARN] [1559770805.557637326]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ INFO] [1559770805.558534101]: Found variables in cache. [ INFO] [1559770805.891665227]: [cf1] reqParamTOC: 0.339736 s [ INFO] [1559770805.891708745]: Requesting memories... [ INFO] [1559770805.894587766]: Memories: 6 [ INFO] [1559770805.904381785]: [cf1] Ready. Elapsed: 0.352448 s [ INFO] [1559770805.904420438]: CF run: 0.352578 s update commander/enHighLevel to 1 update ring/effect to 16 update ring/headlightEnable to 0 update ring/solidBlue to 255 update ring/solidGreen to 0 update ring/solidRed to 0 update stabilizer/controller to 2 update stabilizer/estimator to 3 update ctrlMel/i_range_m_z to 1500 update ctrlMel/i_range_xy to 2 update ctrlMel/i_range_z to 0.4 update ctrlMel/kR_xy to 70000 update ctrlMel/kR_z to 60000 update ctrlMel/kd_omega_rp to 200 update ctrlMel/kd_xy to 0.2 update ctrlMel/kd_z to 0.4 update ctrlMel/ki_m_z to 500 update ctrlMel/ki_xy to 0.05 update ctrlMel/ki_z to 0.05 update ctrlMel/kp_xy to 0.4 update ctrlMel/kp_z to 1.25 update ctrlMel/kw_xy to 20000 update ctrlMel/kw_z to 12000 update ctrlMel/mass to 0.032 update ctrlMel/massThrust to 132000 [ INFO] [1559770805.936429288]: [cf1] Update parameters [ INFO] [1559770805.982414987]: Update params: 0.077826 s [ INFO] [1559770805.982613502]: Adding CF: cf2 (radio://0/80/2M/E7E7E7E702, cf2)... [ INFO] [1559770806.001354559]: CF ctor: 0.018669 s [ INFO] [1559770806.003500647]: [cf2] Requesting parameters... [ WARN] [1559770806.005820102]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ WARN] [1559770806.008095943]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ INFO] [1559770806.008967272]: Found variables in cache. [ INFO] [1559770806.414607967]: [cf2] reqParamTOC: 0.413202 s [ INFO] [1559770806.414634123]: Requesting memories... [ INFO] [1559770806.416837747]: Memories: 6 [ INFO] [1559770806.425750347]: [cf2] Ready. Elapsed: 0.424336 s [ INFO] [1559770806.425793286]: CF run: 0.424455 s update commander/enHighLevel to 1 update ring/effect to 16 update ring/headlightEnable to 0 update ring/solidBlue to 255 update ring/solidGreen to 0 update ring/solidRed to 0 update stabilizer/controller to 2 update stabilizer/estimator to 3 update ctrlMel/i_range_m_z to 1500 update ctrlMel/i_range_xy to 2 update ctrlMel/i_range_z to 0.4 update ctrlMel/kR_xy to 70000 update ctrlMel/kR_z to 60000 update ctrlMel/kd_omega_rp to 200 update ctrlMel/kd_xy to 0.2 update ctrlMel/kd_z to 0.4 update ctrlMel/ki_m_z to 500 update ctrlMel/ki_xy to 0.05 update ctrlMel/ki_z to 0.05 update ctrlMel/kp_xy to 0.4 update ctrlMel/kp_z to 1.25 update ctrlMel/kw_xy to 20000 update ctrlMel/kw_z to 12000 update ctrlMel/mass to 0.032 update ctrlMel/massThrust to 132000 [ INFO] [1559770806.448282713]: [cf2] Update parameters [ INFO] [1559770806.490635069]: Update params: 0.064791 s [ INFO] [1559770806.490784002]: Started 1 threads check_vrpn_cookie(): VRPN Note: minor version number doesn't match: (prefer 'vrpn: ver. 07.34', got 'vrpn: ver. 07.20 0'). This is not normally a problem. [ WARN] [1559770806.501151959]: No updated pose for motion capture object cf1 [ WARN] [1559770806.501185002]: No updated pose for motion capture object cf2 [ WARN] [1559770806.502506853]: No updated pose for motion capture object cf1 [ WARN] [1559770806.502529931]: No updated pose for motion capture object cf2 tracker: cf1 tracker: cf2 [ WARN] [1559770806.527496850]: Latency too high! Is 0.015817 s. [ WARN] [1559770806.550204760]: No updated pose for motion capture object cf1 [ WARN] [1559770806.613718255]: No updated pose for motion capture object cf2 [ WARN] [1559770806.624025458]: No updated pose for motion capture object cf1 [ WARN] [1559770806.624067933]: No updated pose for motion capture object cf2

...

^C[ WARN] [1559770806.992616689]: No updated pose for motion capture object cf1 [ WARN] [1559770806.992740355]: No updated pose for motion capture object cf2 [ WARN] [1559770807.003328011]: No updated pose for motion capture object cf1 [ WARN] [1559770807.003449621]: No updated pose for motion capture object cf2 [ WARN] [1559770807.023523971]: No updated pose for motion capture object cf1 [ WARN] [1559770807.023655844]: No updated pose for motion capture object cf2 [ WARN] [1559770807.035354310]: No updated pose for motion capture object cf1 [ WARN] [1559770807.035497901]: No updated pose for motion capture object cf2 [ WARN] [1559770807.045979579]: No updated pose for motion capture object cf1 [ WARN] [1559770807.046102832]: No updated pose for motion capture object cf2 [ WARN] [1559770807.056536347]: No updated pose for motion capture object cf1 [ WARN] [1559770807.056706672]: No updated pose for motion capture object cf2 [rviz-4] killing on exit [crazyswarm_teleop-3] killing on exit [ WARN] [1559770807.067637453]: No updated pose for motion capture object cf1 [ WARN] [1559770807.067891137]: No updated pose for motion capture object cf2 [joy-2] killing on exit [crazyswarm_server-1] killing on exit vrpn_Connection::~vrpn_Connection: Connection was deleted while 3 references still remain. shutting down processing monitor... ... shutting down processing monitor complete done


 I thought it was related to #155, but when I set enable_logging to True in hover_swarm.launch, I get the following error

ROS_MASTER_URI=http://localhost:11311

process[crazyswarm_server-1]: started with pid [15759] process[joy-2]: started with pid [15760] process[crazyswarmteleop-3]: started with pid [15761] process[rviz-4]: started with pid [15782] [ INFO] [1559771426.965340804]: Wait for services... [ INFO] [1559771426.965969788]: waitForService: Service [/emergency] has not been advertised, waiting... [ INFO] [1559771426.987360269]: waitForService: Service [/emergency] is now available. [ INFO] [1559771426.991169087]: Opened joystick: /dev/input/js0. deadzone: 0.050000. [ INFO] [1559771426.995244249]: Manager ready. ch: 1 [ INFO] [1559771427.129732836]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)... [ INFO] [1559771427.158857071]: CF ctor: 0.029022 s [ INFO] [1559771427.161064255]: [cf1] Requesting parameters... [ WARN] [1559771427.163862098]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ WARN] [1559771427.165634743]: Don't know ack: Port: 13 Channel: 1 Len: 6 [ INFO] [1559771427.166540400]: Found variables in cache. [ INFO] [1559771427.496326471]: [cf1] reqParamTOC: 0.337318 s [ INFO] [1559771427.496387118]: [cf1] Requesting logging variables... [ WARN] [1559771427.498847377]: Don't know ack: Port: 5 Channel: 0 Len: 10 [ INFO] [1559771427.498964252]: Log: 306 [ WARN] [1559771427.501768269]: Don't know ack: Port: 5 Channel: 0 Len: 10 [ WARN] [1559771427.502997501]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.504076372]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.505204499]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.506508070]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.507935473]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.509439937]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.510815343]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.511921800]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.513032556]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.514153864]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.515294126]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.516440991]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.517595989]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.518628973]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.519700780]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.521021721]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.522648080]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.523817724]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.525126140]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.526351148]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.527703032]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.528848001]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.529967938]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.531349782]: Don't know ack: Port: 5 Channel: 0 Len: 27 [ WARN] [1559771427.532597584]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.533846573]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.534943219]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.536043354]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.537143775]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.538242244]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.539424763]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.540551884]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.541677915]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.542907903]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.544199377]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.545341472]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.546420593]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.547542081]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.548696837]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.549894414]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.550981782]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.552095065]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.553195458]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.554839746]: Don't know ack: Port: 5 Channel: 0 Len: 28 [ WARN] [1559771427.556639892]: Don't know ack: Port: 5 Channel: 0 Len: 28 [ WARN] [1559771427.558100313]: Don't know ack: Port: 5 Channel: 0 Len: 28 [ WARN] [1559771427.559814019]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.561479790]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.562918629]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.564312381]: Don't know ack: Port: 5 Channel: 0 Len: 27 [ WARN] [1559771427.565675228]: Don't know ack: Port: 5 Channel: 0 Len: 27 [ WARN] [1559771427.567089985]: Don't know ack: Port: 5 Channel: 0 Len: 27 [ WARN] [1559771427.568398541]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.569701826]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.570999801]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.572324288]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.573630853]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.574960644]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.576445233]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.578201838]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.579528645]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.580745710]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.581973829]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.583157300]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.584374022]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.586934807]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.588370948]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.589766906]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.591136603]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.592765042]: Don't know ack: Port: 5 Channel: 0 Len: 30 [ WARN] [1559771427.593985491]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.594986764]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.596013393]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.597099220]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.598255258]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.599443626]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.600758018]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.601936979]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.603114199]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.604287101]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.605463959]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.606662839]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.607863121]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.609072614]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.610300889]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.611497950]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.612749027]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.614024690]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.615273627]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.616475294]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.617661371]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.619302486]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.620758692]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.622046976]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.623308044]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.624975621]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.626528846]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.627889476]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.629001379]: Don't know ack: Port: 5 Channel: 0 Len: 12 [ WARN] [1559771427.630125418]: Don't know ack: Port: 5 Channel: 0 Len: 12 [ WARN] [1559771427.631221609]: Don't know ack: Port: 5 Channel: 0 Len: 12 [ WARN] [1559771427.632524516]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.633641579]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.634765932]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.635917354]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.637306358]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.638699238]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.640036696]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.641550653]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.643022975]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.644473461]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.645981034]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.647460850]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.648955406]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.650429395]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.652208703]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.655226681]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.656722517]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.658214751]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.659742794]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.661229541]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.663165618]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.664738454]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.666195151]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.667589394]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.668996359]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.670424066]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.671952010]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.673400721]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.674876876]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.676612444]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.678158348]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.679650940]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.681095220]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.682600002]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.684376099]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.686107515]: Don't know ack: Port: 5 Channel: 0 Len: 30 [ WARN] [1559771427.687696722]: Don't know ack: Port: 5 Channel: 0 Len: 28 [ WARN] [1559771427.689251203]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.690720088]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.692356492]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.694311174]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.697413077]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.698872766]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.700305871]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.702197747]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.703634178]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.705024001]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.706371404]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.707710125]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.709050889]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.711790285]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.713104036]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.714397468]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.715737000]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.717175391]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.718513636]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.719796793]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.721113038]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.722353433]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.723648981]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.724940393]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.726541660]: Don't know ack: Port: 5 Channel: 0 Len: 31 [ WARN] [1559771427.727980187]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.729547554]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.731315284]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.732955863]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.734527429]: Don't know ack: Port: 5 Channel: 0 Len: 26 [ WARN] [1559771427.736073285]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.737407746]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.738748397]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.740149214]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.741600767]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.743141092]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.744803839]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.746423418]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.747726998]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.749121524]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.750589462]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.752114793]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.753534295]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.754980434]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.756393521]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.757795770]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.759220033]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.760824054]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.762445057]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.763869911]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.765270638]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.766579975]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.767911894]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.769294219]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.770646750]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.772035631]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.773414938]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.774916611]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.776458273]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.779038081]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.780428461]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.781765535]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.783363727]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.785194584]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.786583922]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.788050138]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.789481003]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.791159231]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.792776371]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.794422150]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.796011926]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.797472934]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.798764585]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.800056676]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.801351239]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.802644746]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.803975349]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.805273019]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.806599304]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.808002284]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.809518464]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.812825784]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.814538087]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.816026892]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.817611147]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.819137187]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.820615385]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.822135633]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.823649951]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.825177425]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.826681894]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.828324719]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.829896213]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.831384539]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.832850840]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.834324909]: Don't know ack: Port: 5 Channel: 0 Len: 23 [ WARN] [1559771427.835955526]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.837458812]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.839164746]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.840673837]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.842346943]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.844547126]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.847122911]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.848719837]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.850351158]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.851856119]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.853505684]: Don't know ack: Port: 5 Channel: 0 Len: 29 [ WARN] [1559771427.855115600]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.856466127]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.857828145]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.859371857]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.860692283]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.862102805]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.863568161]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.864921927]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.866162382]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.867409833]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.868695655]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.869996547]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.871258178]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.872548169]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.873877749]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.875168198]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.876480832]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.878244562]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.880207030]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.881548811]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.882921051]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.884274859]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.885651234]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.887102515]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.888527375]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.890117844]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.891450384]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.892790277]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.894478820]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.896822519]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.898215600]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.899639465]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.901021467]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.902412659]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.903815135]: Don't know ack: Port: 5 Channel: 0 Len: 17 [ WARN] [1559771427.905242359]: Don't know ack: Port: 5 Channel: 0 Len: 18 [ WARN] [1559771427.906539386]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.907954779]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ WARN] [1559771427.909766224]: Don't know ack: Port: 5 Channel: 0 Len: 16 [ WARN] [1559771427.911422189]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.913390413]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.915290964]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.917262258]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.918791088]: Don't know ack: Port: 5 Channel: 0 Len: 22 [ WARN] [1559771427.920254388]: Don't know ack: Port: 5 Channel: 0 Len: 21 [ WARN] [1559771427.921688536]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.923210150]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.924638564]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.926058896]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.927487423]: Don't know ack: Port: 5 Channel: 0 Len: 20 [ WARN] [1559771427.928934425]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.930524286]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.933642305]: Don't know ack: Port: 5 Channel: 0 Len: 19 [ WARN] [1559771427.935224392]: Don't know ack: Port: 5 Channel: 0 Len: 25 [ WARN] [1559771427.936551005]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.938006851]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.939205527]: Don't know ack: Port: 5 Channel: 0 Len: 11 [ WARN] [1559771427.940461180]: Don't know ack: Port: 5 Channel: 0 Len: 13 [ WARN] [1559771427.942366624]: Don't know ack: Port: 5 Channel: 0 Len: 14 [ WARN] [1559771427.948506433]: Don't know ack: Port: 5 Channel: 0 Len: 24 [ WARN] [1559771427.949843782]: Don't know ack: Port: 5 Channel: 0 Len: 15 [ INFO] [1559771427.955585921]: [cf1] reqLogTOC: 0.459253 s terminate called after throwing an instance of 'std::runtime_error' what(): Could not find ctrlStat.edist in log toc! [crazyswarm_server-1] process has died [pid 15759, exit code -6, cmd /home/ada-1/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/ada-1/.ros/log/1de8786e-86f1-11e9-9d7a-c8ff281d5ed9/crazyswarm_server-1.log]. log file: /home/ada-1/.ros/log/1de8786e-86f1-11e9-9d7a-c8ff281d5ed9/crazyswarm_server-1*.log ^C[rviz-4] killing on exit [crazyswarm_teleop-3] killing on exit [joy-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done


Is there something i've omitted to do?
whoenig commented 5 years ago

Looks like you followed the steps correctly. Which firmware did you flash?

For your issues:

  1. Could you post the output of roslaunch crazyswarm mocap_helper.launch with the vrpn configuration? For the optitrack configuration, did you make sure that you enabled streaming of rigid bodies, labeled markers, and unlabeled markers in Motive? Also double check that Motive shows the correct IP address in the streaming tab. Finally, which version of Motive are you using?
  2. I don't recommend flying if you have so many warnings regarding tracking. Nevertheless, the error message you get when you enable logging is related to the log variables configured here https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/launch/hover_swarm.launch#L19. This variable doesn't exist in your firmware. You could use 'stateEstimate.x' instead.
BIsichei commented 5 years ago

I used the crazyflie-firmware that comes with the crazyswarm repo. Should I be using the crazyflie2-nrf-firmware instead?

With the vrpn config, I get 

 roslaunch crazyswarm mocap_helper.launch 
... logging to /home/ada-1/.ros/log/41fba474-887c-11e9-9d7a-c8ff281d5ed9/roslaunch-Unit-1-21043.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Unit-1:35049/

SUMMARY
========

PARAMETERS
 * /mocap_helper/motion_capture_type: vrpn
 * /mocap_helper/object_tracking_type: motionCapture
 * /mocap_helper/optitrack_host_name: 172.25.97.125
 * /mocap_helper/vrpn_host_name: 172.25.97.125
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mocap_helper (crazyswarm/mocap_helper)

ROS_MASTER_URI=http://localhost:11311

process[mocap_helper-1]: started with pid [21060]
check_vrpn_cookie(): VRPN Note: minor version number doesn't match: (prefer 'vrpn: ver. 07.34', got 'vrpn: ver. 07.20  0').  This is not normally a problem.
frame 0:
    points:
    objects:
frame 1:
    points:
    objects:
frame 2:
    points:
    objects:
frame 3:
tracker: cf1
tracker: cf2
    points:
    objects:
frame 4:
    points:
    objects:
      "cf2":
         occluded: 0
         position: [-2.08957, -0.560325, 0.032489]
         rotation: [-0.449568, 0.487306, 0.034267, 0.747829]
      "cf1":
         occluded: 0
         position: [-2.09366, -0.379157, 0.0320606]
         rotation: [-0.349077, -0.270634, 0.226746, -0.868037]
frame 5:
    points:
    objects:
frame 6:
    points:
    objects:
      "cf2":
         occluded: 0
         position: [-2.08957, -0.560287, 0.0324451]
         rotation: [-0.449038, 0.487411, 0.0348656, 0.748051]
      "cf1":
         occluded: 0
         position: [-2.09366, -0.379163, 0.0320689]
         rotation: [-0.349052, -0.270702, 0.226762, -0.868022]
frame 7:
    points:
    objects:
frame 8:
    points:
    objects:
      "cf2":
         occluded: 0
         position: [-2.08957, -0.560324, 0.0324893]
         rotation: [-0.449521, 0.487439, 0.0342297, 0.747772]
      "cf1":
         occluded: 0
         position: [-2.09365, -0.379167, 0.0320535]
         rotation: [-0.349006, -0.2706, 0.226761, -0.868072]
frame 9:
    points:
    objects:
frame 10:
    points:
    objects:
      "cf2":
         occluded: 0
         position: [-2.08956, -0.560318, 0.0324486]
         rotation: [-0.44938, 0.488294, 0.0344136, 0.74729]
      "cf1":
         occluded: 0
         position: [-2.09364, -0.379184, 0.0320531]
         rotation: [-0.34908, -0.270622, 0.226752, -0.868038]
frame 11:
    points:
    objects:

...

I'm using motive 1.9.0, all those options are enabled, and it's publishing to the correct interface. Panel

Whenever I run mocap helper with optitrack, the motive software indicates it's connected to a client, but there are no updates on the client.

PARAMETERS
 * /mocap_helper/motion_capture_type: optitrack
 * /mocap_helper/object_tracking_type: motionCapture
 * /mocap_helper/optitrack_host_name: 172.25.97.125
 * /mocap_helper/vrpn_host_name: 172.25.97.125
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    mocap_helper (crazyswarm/mocap_helper)

ROS_MASTER_URI=http://localhost:11311

process[mocap_helper-1]: started with pid [21962]
frame 0:
^C[mocap_helper-1] killing on exit
[mocap_helper-1] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

I really appreciate your help with this.

whoenig commented 5 years ago

Firmware: You need to flash both the STM32 and NRF51 firmwares. For both it is best to use the ones in the repo, perhaps even the ones in the prebuilt-folder as those are tested.

VRPN: Your output shows the problem: Every other frame does not contain any tracked rigid bodies. So when you run the hover_swarm launchfile you do see objects tracked in rviz, but every other frame it prints a warning. I have not seen this behavior before. Nevertheless, I don't recommend using the VRPN backend, since it won't allow you to use libobjecttracker (which will be important for larger swarms).

Optitrack: Please try the tools in https://github.com/whoenig/NatNetSDKCrossplatform and see if they are able to connect. Those are mostly unchanged from the official NatNetSDK. I tested with Motive 2.0, so if you do have an option to upgrade to 2.x, this might also help (however, your version of Motive should work in theory, I just was not able to test it.)

lkyfly0765 commented 5 years ago

@whoenig Hi whoenig, How to use the NatNetSDKCrossplatform as a optitrack user? How to configure the launch file if I want to use the NatNetSDKCrossplatform? This is my configure info:

  # tracking

motion_capture_type: "optitrack" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker

vicon_host_name: "vicon"

optitrack_host_name: "169.254.41.1"

qualisys_host_name: "10.0.5.219"

qualisys_base_port: 22222

vrpn_host_name: "169.254.41.1"

save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False

but when I launch the hover_swarm.launch, there is no error in the terminal window, but the LED ring attached on the crazyflie is solid red, and the light on the crazyradio is off. I think the connection between crazyflie and the crazyradio is not established. And, run the figure 8 file, there is no respond with the crazyflie.

When we choose the vrpn as the motion_capture_type, as run vrpn_client_ros at the same time, we can see that the LED ring is green, and the light on crazyradio is flashing which mean the connection is correctly established. Then I run the figure 8 file, the crazyflie take off and hover at 1 meter above the ground stable, then it moves quickly and flap down to the ground. It can not execute the following trajectory.

I am sure that the firmware is flashed to the latest. Both STM and nRF. So, what may cause this problem?

Thanks a lot for your support!

whoenig commented 5 years ago

@lkyfly0765 NatNetSDKCrossplatform is a repository to test your connection to Motive using NatNetSDK. Follow the instructions there on how to use it. This SDK is automatically used when you choose "optitrack" as motion_capture_type.

lkyfly0765 commented 5 years ago

@whoenig Thanks for your reply. I use the NatNetSDKCrossplatform to test the connection between my laptop and the Motive. Just as you wrote in the instructions, the ./mcr feedback the correctly which contains the Natnet version and Motive version.
But as I wrote in my last comment, when I choose optitrack as the mocap_type, the launch file runs correctly, but the LED light is solid red, and the crazyflie don’t respond when I run the python script.

Also, in the RVIZ window, there is nothing until I launch the vrpn_client _ros sample.launch, is this normal ?

whoenig commented 5 years ago

/.mcr should actually output a lot of data (position of all your drones/markers for every frame). If you only see Natnet version and Motive version, then motive is not streaming data, or there is some issue with the multicast reception. Is there any firewall between the Motive computer and the crazyswarm computer? Did you enable the data streaming in Motive?

What you describe is not normal, but simply caused by the connection issues you are facing.

lkyfly0765 commented 5 years ago

@whoenig I have shutdown the firewall both Motive computer and my laptop. And I enable the data streaming on the data streaming panel. But because we use vrpn before, I always turn on the broadcast vrpn data option in that panel, will this cause some problem? Anyway, I will check the firewall and the data streaming settings again later.

By the way, we use the motionCapture as the object tracking type, does the Natnet support it ? Or we can only use Natnet when we choose the libobjecttracker?

I have updated the Motive to the latest version 2.1.1 final, as you said in other issues, the latest version of the crazyswarm support Natnet 3.0, I think the Motive version is not the problem causer.

jpreiss commented 4 years ago

@lkyfly0765 were you able to resolve this?

lowjunen commented 3 years ago

I had a similar issue and the fix was to switch the local interface option on motive. The labeling is a little misleading in that the default option, 'loopback', really means that the optitrack is broadcasting only to the machine that is running motive (i.e itself). this is fine if your ground station machine is the same machine but won't work when the ground station is separate.

I believe this issue might also resolve #155 #152

jpreiss commented 3 years ago

closing due to inactivity.