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USC-ACTLab / crazyswarm

A Large Quadcopter Swarm
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hover_swarm.launch does not output Motive data #235

Closed ThomasCarstens closed 2 years ago

ThomasCarstens commented 4 years ago

Hello Datastreaming is not occurring on Ubuntu 18.04 machine (tried on two separate machines) and I think it is related to the implementation of Natnet used in crazyswarm.

My Windows to Linux Datastreaming reaches the Ubuntu 18.04 machine and I can confirm this with a tcpdump. However the mocap handler does not output any data whether as ros /tf or in roslaunch. The Windows clients however do read the data correctly (whether local or remotely). I have disabled firewall on both sides, problem still persists.

Datastreaming settings: I have made sure to only stream rigidBodies for motionCapture, and have selected other parameters in Motive as advised in multiple other issues. Image is here:

WhatsApp Image 2020-07-17 at 15 25 22

First here are the parameters for optitrack that I have followed motion_capture_type: "optitrack" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker send_position_only: False # set to False to send position+orientation; set to True to send position only optitrack_host_name: "172.21.72.129" save_point_clouds: ~/pointCloud.ot print_latency: False write_csvs: False force_no_cache: False enable_parameters: True enable_logging: False

First I checked your NatnetCrossplatform implementation: $ ./natnettest 172.21.72.129 1 279 NatNetVersion: 128.150.152.0 ServerVersion: 3.1.0.0 and $ ./mcr 172.21.72.129 NatNetVersion: 128.150.152.0 ServerVersion: 3.1.0.0

SInce mcr is supposed to output the data we see it stop. Using a Windows machine I can confirm that data streams but I have now used 2 Ubuntu 18.04 machines with the same effect. Can't seem to find my error.

Additionally here are the outputs of $catkin_make -DCMAKE_BUILD_TYPE=Debug and $roslaunch crazyswarm hover_swarm.launch

$ catkin_make -DCMAKE_BUILD_TYPE=Debug

` Base path: /home/thomas/crazyswarm/ros_ws Source space: /home/thomas/crazyswarm/ros_ws/src Build space: /home/thomas/crazyswarm/ros_ws/build Devel space: /home/thomas/crazyswarm/ros_ws/devel Install space: /home/thomas/crazyswarm/ros_ws/install

Running command: "cmake /home/thomas/crazyswarm/ros_ws/src -DCMAKE_BUILD_TYPE=Debug -DCATKIN_DEVEL_PREFIX=/home/thomas/crazyswarm/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/thomas/crazyswarm/ros_ws/install -G Unix Makefiles" in "/home/thomas/crazyswarm/ros_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/thomas/crazyswarm/ros_ws/devel -- Using CMAKE_PREFIX_PATH: /home/thomas/crazyswarm/ros_ws/devel;/home/thomas/crazyflie_ws/devel;/home/thomas/xarm_ws/devel;/home/thomas/ros_project_dependencies_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/thomas/crazyswarm/ros_ws/devel;/home/thomas/crazyflie_ws/devel;/home/thomas/xarm_ws/devel;/home/thomas/ros_project_dependencies_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/thomas/crazyswarm/ros_ws/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.23 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~ -- ~~ traversing 11 packages in topological order: -- ~~ - crazyflie (metapackage) -- ~~ - crazyflie_cpp -- ~~ - crazyflie_description -- ~~ - crazyflie_tools -- ~~ - libmotioncapture -- ~~ - libobjecttracker -- ~~ - crazyflie_demo -- ~~ - crazyflie_controller -- ~~ - crazyflie_driver -- ~~ - crazyswarm -- ~~ - mocap_optitrack -- ~~~~~~~~~~~~~ -- +++ processing catkin metapackage: 'crazyflie' -- ==> add_subdirectory(crazyflie_ros/crazyflie) -- +++ processing catkin package: 'crazyflie_cpp' -- ==> add_subdirectory(crazyflie_ros/crazyflie_cpp) Using ROS (catkin_make) CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on '/usr/lib/x86_64-linux-gnu/libusb-1.0.so' but neither '/usr/lib/x86_64-linux-gnu/libusb-1.0.so_INCLUDE_DIRS' nor '/usr/lib/x86_64-linux-gnu/libusb-1.0.so_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) crazyflie_ros/crazyflie_cpp/ROS.cmake:18 (catkin_package) crazyflie_ros/crazyflie_cpp/CMakeLists.txt:6 (include)

-- +++ processing catkin package: 'crazyflie_description' -- ==> add_subdirectory(crazyflie_ros/crazyflie_description) -- +++ processing catkin package: 'crazyflie_tools' -- ==> add_subdirectory(crazyflie_ros/crazyflie_tools) Using ROS (catkin_make) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- program_options -- +++ processing catkin package: 'libmotioncapture' -- ==> add_subdirectory(externalDependencies/libmotioncapture) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- filesystem -- thread -- date_time -- iostreams -- serialization -- chrono -- atomic -- regex -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING io features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING io features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING io features related to dssdk will be disabled WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include:

-- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include:

WARNING io features related to libusb-1.0 will be disabled -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING visualization features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING visualization features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING visualization features related to dssdk will be disabled -- Could NOT find RSSDK (missing: _RSSDK_LIBRARIES) WARNING visualization features related to rssdk will be disabled -- looking for PCL_COMMON -- looking for PCL_OCTREE -- looking for PCL_IO -- looking for PCL_KDTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_MODELER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- chrono -- date_time -- atomic -- +++ processing catkin package: 'libobjecttracker' -- ==> add_subdirectory(externalDependencies/libobjecttracker) CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on '/usr/lib/x86_64-linux-gnu/libusb-1.0.so' but neither '/usr/lib/x86_64-linux-gnu/libusb-1.0.so_INCLUDE_DIRS' nor '/usr/lib/x86_64-linux-gnu/libusb-1.0.so_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) externalDependencies/libobjecttracker/CMakeLists.txt:19 (catkin_package)

-- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- filesystem -- thread -- date_time -- iostreams -- serialization -- chrono -- atomic -- regex -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING io features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING io features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING io features related to dssdk will be disabled WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include:

-- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include:

WARNING io features related to libusb-1.0 will be disabled -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING visualization features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING visualization features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING visualization features related to dssdk will be disabled -- Could NOT find RSSDK (missing: _RSSDK_LIBRARIES) WARNING visualization features related to rssdk will be disabled -- looking for PCL_COMMON -- looking for PCL_OCTREE -- looking for PCL_IO -- looking for PCL_KDTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_MODELER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- +++ processing catkin package: 'crazyflie_demo' -- ==> add_subdirectory(crazyflie_ros/crazyflie_demo) -- +++ processing catkin package: 'crazyflie_controller' -- ==> add_subdirectory(crazyflie_ros/crazyflie_controller) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'crazyflie_driver' -- ==> add_subdirectory(crazyflie_ros/crazyflie_driver) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- crazyflie_driver: 8 messages, 11 services -- +++ processing catkin package: 'crazyswarm' -- ==> add_subdirectory(crazyswarm) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- filesystem -- thread -- date_time -- iostreams -- serialization -- chrono -- atomic -- regex -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING io features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING io features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING io features related to dssdk will be disabled WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include:

-- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include:

WARNING io features related to libusb-1.0 will be disabled -- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) WARNING visualization features related to ensenso will be disabled -- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) WARNING visualization features related to davidSDK will be disabled -- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) WARNING visualization features related to dssdk will be disabled -- Could NOT find RSSDK (missing: _RSSDK_LIBRARIES) WARNING visualization features related to rssdk will be disabled -- looking for PCL_COMMON -- looking for PCL_OCTREE -- looking for PCL_IO -- looking for PCL_KDTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_MODELER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- +++ processing catkin package: 'mocap_optitrack' -- ==> add_subdirectory(mocap_optitrack) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring done -- Generating done -- Build files have been written to: /home/thomas/crazyswarm/ros_ws/build

Running command: "make -j4 -l4" in "/home/thomas/crazyswarm/ros_ws/build"

[ 0%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/USBDevice.cpp.o [ 0%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconDataStreamSDKCore/CoreClient.cpp.o [ 0%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/qualisys_cpp_sdk/CMakeFiles/qualisys_cpp_sdk.dir/Markup.cpp.o Scanning dependencies of target libobjecttracker [ 0%] Building CXX object externalDependencies/libobjecttracker/CMakeFiles/libobjecttracker.dir/src/object_tracker.cpp.o [ 1%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/Crazyradio.cpp.o [ 2%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/qualisys_cpp_sdk/CMakeFiles/qualisys_cpp_sdk.dir/Network.cpp.o [ 2%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/CrazyflieUSB.cpp.o [ 2%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/qualisys_cpp_sdk/CMakeFiles/qualisys_cpp_sdk.dir/RTPacket.cpp.o [ 3%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/Crazyflie.cpp.o [ 4%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/qualisys_cpp_sdk/CMakeFiles/qualisys_cpp_sdk.dir/RTProtocol.cpp.o [ 4%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/crtp.cpp.o [ 5%] Building CXX object crazyflie_ros/crazyflie_cpp/CMakeFiles/crazyflie_cpp.dir/src/ITransport.cpp.o [ 5%] Linking CXX shared library /home/thomas/crazyswarm/ros_ws/devel/lib/libcrazyflie_cpp.so [ 5%] Built target crazyflie_cpp [ 6%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconDataStreamSDKCore/ClientUtils.cpp.o [ 6%] Linking CXX shared library /home/thomas/crazyswarm/ros_ws/devel/lib/libqualisys_cpp_sdk-d.so [ 6%] Built target qualisys_cpp_sdk [ 6%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconDataStreamSDKCore/AxisMapping.cpp.o [ 7%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconCGStreamClientSDK/CGClient.cpp.o [ 7%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconCGStreamClient/ViconCGStreamClient.cpp.o In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0, from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45, from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44, from /usr/include/pcl-1.8/pcl/registration/icp.h:45, from /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/src/object_tracker.cpp:7: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void static_initialization_and_destruction_0(int, int)’: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations] SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel)); ^~~~~~~ /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here [ 7%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconCGStreamClient/ViconCGStreamBayer.cpp.o [ 8%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconCGStreamClient/CGStreamReaderWriter.cpp.o [ 9%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPP.dir/Vicon/CrossMarket/DataStream/ViconDataStreamSDK_CPP/DataStreamClient.cpp.o [ 9%] Linking CXX shared library /home/thomas/crazyswarm/ros_ws/devel/lib/libViconDataStreamSDK_CPP.so [ 9%] Built target ViconDataStreamSDK_CPP [ 10%] Linking CXX shared library /home/thomas/crazyswarm/ros_ws/devel/lib/liblibobjecttracker.so [ 10%] Built target libobjecttracker [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_GenericLogData [ 10%] Built target std_msgs_generate_messages_py [ 10%] Built target geometry_msgs_generate_messages_py [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_AddCrazyflie [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_Stop [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_SetGroupMask [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_crtpPacket [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_Takeoff [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_TrajectoryPolynomialPiece [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_LogBlock [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_Hover [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_RemoveCrazyflie [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_sendPacket [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_Position [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_GoTo [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_StartTrajectory [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_Land [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_VelocityWorld [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_UpdateParams [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_UploadTrajectory [ 10%] Built target _crazyflie_driver_generate_messages_check_deps_FullState [ 10%] Built target std_msgs_generate_messages_cpp [ 10%] Built target geometry_msgs_generate_messages_cpp [ 10%] Built target std_msgs_generate_messages_eus [ 10%] Built target geometry_msgs_generate_messages_eus [ 10%] Built target std_msgs_generate_messages_lisp [ 10%] Built target geometry_msgs_generate_messages_lisp [ 10%] Built target std_msgs_generate_messages_nodejs [ 10%] Built target geometry_msgs_generate_messages_nodejs [ 10%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/natnet/natnet_packet_definition.cpp.o [ 11%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/natnet/natnet_messages.cpp.o [ 11%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/socket.cpp.o [ 12%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/version.cpp.o [ 13%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/mocap_node.cpp.o [ 13%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/mocap_config.cpp.o [ 14%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/data_model.cpp.o [ 14%] Building CXX object mocap_optitrack/src/CMakeFiles/mocap_optitrack_mocap_node.dir/rigid_body_publisher.cpp.o [ 15%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/mocap_optitrack/mocap_node [ 15%] Built target mocap_optitrack_mocap_node [ 17%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/battery.dir/src/battery.cpp.o [ 17%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/battery [ 17%] Built target battery [ 18%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/reboot.dir/src/reboot.cpp.o [ 18%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/reboot [ 18%] Built target reboot [ 19%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/console.dir/src/console.cpp.o [ 19%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/console [ 19%] Built target console [ 19%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/listMemories.dir/src/listMemories.cpp.o [ 20%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/listMemories [ 20%] Built target listMemories [ 21%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/scan.dir/src/scan.cpp.o [ 21%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/scan [ 21%] Built target scan [ 21%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/listLogVariables.dir/src/listLogVariables.cpp.o [ 22%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/listLogVariables [ 22%] Built target listLogVariables [ 22%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/listParams.dir/src/listParams.cpp.o [ 23%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/listParams [ 23%] Built target listParams [ 24%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/version.dir/src/version.cpp.o [ 25%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/version [ 25%] Built target version [ 26%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/flash.dir/src/flash.cpp.o [ 26%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/flash [ 26%] Built target flash [ 27%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/comCheck.dir/src/comCheck.cpp.o [ 27%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/comCheck [ 27%] Built target comCheck [ 28%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/setParam.dir/src/setParam.cpp.o [ 28%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/log.dir/src/log.cpp.o [ 28%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/setParam [ 28%] Built target setParam [ 29%] Building CXX object crazyflie_ros/crazyflie_tools/CMakeFiles/downloadUSDLogfile.dir/src/downloadUSDLogfile.cpp.o [ 29%] Building CXX object crazyflie_ros/crazyflie_controller/CMakeFiles/crazyflie_controller.dir/src/controller.cpp.o [ 30%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/log [ 30%] Built target log [ 30%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_tools/downloadUSDLogfile [ 30%] Built target downloadUSDLogfile [ 31%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_controller/crazyflie_controller [ 31%] Built target crazyflie_controller [ 32%] Building CXX object externalDependencies/libmotioncapture/externalDependencies/vicon-datastream-sdk/CMakeFiles/ViconDataStreamSDK_CPPTest.dir/Vicon/CrossMarket/DataStream/ViconDataStreamSDK_CPPTest/ViconDataStreamSDK_CPPTest.cpp.o [ 32%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/libmotioncapture/ViconDataStreamSDK_CPPTest [ 32%] Built target ViconDataStreamSDK_CPPTest [ 32%] Generating Python from MSG crazyflie_driver/VelocityWorld [ 34%] Generating Python from MSG crazyflie_driver/FullState [ 34%] Generating Python from MSG crazyflie_driver/Position [ 35%] Generating Python from MSG crazyflie_driver/Hover [ 35%] Generating Python from MSG crazyflie_driver/LogBlock [ 36%] Generating Python from MSG crazyflie_driver/TrajectoryPolynomialPiece [ 36%] Generating Python from MSG crazyflie_driver/GenericLogData [ 37%] Generating Python from MSG crazyflie_driver/crtpPacket [ 38%] Generating Python code from SRV crazyflie_driver/Land [ 38%] Generating Python code from SRV crazyflie_driver/Stop [ 39%] Generating Python code from SRV crazyflie_driver/UpdateParams [ 39%] Generating Python code from SRV crazyflie_driver/RemoveCrazyflie [ 40%] Generating Python code from SRV crazyflie_driver/sendPacket [ 40%] Generating Python code from SRV crazyflie_driver/GoTo [ 41%] Generating Python code from SRV crazyflie_driver/SetGroupMask [ 41%] Generating Python code from SRV crazyflie_driver/AddCrazyflie [ 42%] Generating Python code from SRV crazyflie_driver/StartTrajectory [ 42%] Generating Python code from SRV crazyflie_driver/UploadTrajectory [ 43%] Generating Python code from SRV crazyflie_driver/Takeoff [ 43%] Generating Python msg init.py for crazyflie_driver [ 44%] Generating Python srv init__.py for crazyflie_driver [ 44%] Built target crazyflie_driver_generate_messages_py [ 45%] Generating C++ code from crazyflie_driver/VelocityWorld.msg [ 45%] Generating C++ code from crazyflie_driver/FullState.msg Scanning dependencies of target libmotioncapture [ 45%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/motioncapture.cpp.o [ 46%] Generating C++ code from crazyflie_driver/Position.msg [ 46%] Generating C++ code from crazyflie_driver/Hover.msg [ 47%] Generating C++ code from crazyflie_driver/LogBlock.msg [ 48%] Generating EusLisp code from crazyflie_driver/VelocityWorld.msg [ 48%] Generating C++ code from crazyflie_driver/TrajectoryPolynomialPiece.msg [ 48%] Building CXX object crazyflie_ros/crazyflie_demo/CMakeFiles/quadrotor_teleop.dir/src/quadrotor_teleop.cpp.o [ 48%] Generating EusLisp code from crazyflie_driver/FullState.msg [ 50%] Generating EusLisp code from crazyflie_driver/Position.msg [ 51%] Generating C++ code from crazyflie_driver/GenericLogData.msg [ 51%] Generating EusLisp code from crazyflie_driver/Hover.msg [ 52%] Generating EusLisp code from crazyflie_driver/LogBlock.msg [ 52%] Generating C++ code from crazyflie_driver/crtpPacket.msg [ 52%] Generating EusLisp code from crazyflie_driver/TrajectoryPolynomialPiece.msg [ 53%] Generating EusLisp code from crazyflie_driver/GenericLogData.msg [ 54%] Generating C++ code from crazyflie_driver/Land.srv [ 54%] Generating EusLisp code from crazyflie_driver/crtpPacket.msg [ 55%] Generating EusLisp code from crazyflie_driver/Land.srv [ 56%] Generating EusLisp code from crazyflie_driver/Stop.srv [ 56%] Generating EusLisp code from crazyflie_driver/UpdateParams.srv [ 57%] Generating C++ code from crazyflie_driver/Stop.srv [ 58%] Generating EusLisp code from crazyflie_driver/RemoveCrazyflie.srv [ 58%] Generating EusLisp code from crazyflie_driver/sendPacket.srv [ 59%] Generating EusLisp code from crazyflie_driver/GoTo.srv [ 59%] Generating EusLisp code from crazyflie_driver/SetGroupMask.srv [ 59%] Generating C++ code from crazyflie_driver/UpdateParams.srv [ 60%] Generating EusLisp code from crazyflie_driver/AddCrazyflie.srv [ 60%] Generating EusLisp code from crazyflie_driver/StartTrajectory.srv [ 61%] Generating EusLisp code from crazyflie_driver/UploadTrajectory.srv [ 62%] Generating C++ code from crazyflie_driver/RemoveCrazyflie.srv [ 62%] Generating EusLisp code from crazyflie_driver/Takeoff.srv [ 63%] Generating EusLisp manifest code for crazyflie_driver [ 63%] Generating C++ code from crazyflie_driver/sendPacket.srv [ 64%] Generating C++ code from crazyflie_driver/GoTo.srv [ 65%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_demo/quadrotor_teleop [ 65%] Generating C++ code from crazyflie_driver/SetGroupMask.srv [ 65%] Built target quadrotor_teleop [ 67%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/testmocap.cpp.o [ 67%] Built target crazyflie_driver_generate_messages_eus [ 68%] Generating C++ code from crazyflie_driver/AddCrazyflie.srv [ 68%] Generating C++ code from crazyflie_driver/StartTrajectory.srv [ 69%] Generating C++ code from crazyflie_driver/UploadTrajectory.srv [ 69%] Generating C++ code from crazyflie_driver/Takeoff.srv [ 69%] Built target crazyflie_driver_generate_messages_cpp [ 70%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/optitrack.cpp.o [ 70%] Generating Lisp code from crazyflie_driver/VelocityWorld.msg [ 71%] Generating Lisp code from crazyflie_driver/FullState.msg [ 71%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/vicon.cpp.o [ 71%] Generating Lisp code from crazyflie_driver/Position.msg [ 72%] Generating Lisp code from crazyflie_driver/Hover.msg [ 73%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/qualisys.cpp.o [ 73%] Generating Lisp code from crazyflie_driver/LogBlock.msg [ 74%] Generating Lisp code from crazyflie_driver/TrajectoryPolynomialPiece.msg [ 74%] Generating Lisp code from crazyflie_driver/GenericLogData.msg [ 75%] Generating Lisp code from crazyflie_driver/crtpPacket.msg [ 76%] Generating Lisp code from crazyflie_driver/Land.srv [ 76%] Generating Lisp code from crazyflie_driver/Stop.srv [ 77%] Generating Lisp code from crazyflie_driver/UpdateParams.srv [ 77%] Generating Lisp code from crazyflie_driver/RemoveCrazyflie.srv [ 78%] Generating Lisp code from crazyflie_driver/sendPacket.srv [ 78%] Generating Lisp code from crazyflie_driver/GoTo.srv [ 79%] Generating Lisp code from crazyflie_driver/SetGroupMask.srv [ 79%] Generating Lisp code from crazyflie_driver/AddCrazyflie.srv [ 80%] Generating Lisp code from crazyflie_driver/StartTrajectory.srv [ 80%] Generating Lisp code from crazyflie_driver/UploadTrajectory.srv [ 81%] Generating Lisp code from crazyflie_driver/Takeoff.srv [ 81%] Built target crazyflie_driver_generate_messages_lisp [ 81%] Generating Javascript code from crazyflie_driver/VelocityWorld.msg [ 82%] Generating Javascript code from crazyflie_driver/FullState.msg [ 82%] Generating Javascript code from crazyflie_driver/Position.msg [ 84%] Generating Javascript code from crazyflie_driver/Hover.msg [ 84%] Generating Javascript code from crazyflie_driver/LogBlock.msg [ 85%] Generating Javascript code from crazyflie_driver/TrajectoryPolynomialPiece.msg [ 85%] Generating Javascript code from crazyflie_driver/GenericLogData.msg [ 86%] Generating Javascript code from crazyflie_driver/crtpPacket.msg [ 87%] Generating Javascript code from crazyflie_driver/Land.srv [ 87%] Generating Javascript code from crazyflie_driver/Stop.srv [ 88%] Generating Javascript code from crazyflie_driver/UpdateParams.srv [ 88%] Generating Javascript code from crazyflie_driver/RemoveCrazyflie.srv [ 89%] Generating Javascript code from crazyflie_driver/sendPacket.srv [ 89%] Generating Javascript code from crazyflie_driver/GoTo.srv [ 90%] Generating Javascript code from crazyflie_driver/SetGroupMask.srv [ 90%] Generating Javascript code from crazyflie_driver/AddCrazyflie.srv [ 91%] Generating Javascript code from crazyflie_driver/StartTrajectory.srv [ 91%] Generating Javascript code from crazyflie_driver/UploadTrajectory.srv [ 92%] Generating Javascript code from crazyflie_driver/Takeoff.srv [ 92%] Built target crazyflie_driver_generate_messages_nodejs [ 92%] Building CXX object externalDependencies/libmotioncapture/CMakeFiles/libmotioncapture.dir/src/vrpn.cpp.o [ 93%] Linking CXX shared library /home/thomas/crazyswarm/ros_ws/devel/lib/liblibmotioncapture.so [ 93%] Built target libmotioncapture Scanning dependencies of target crazyflie_server [ 93%] Building CXX object crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_server.dir/src/crazyflie_server.cpp.o Scanning dependencies of target crazyswarm_server [ 93%] Building CXX object crazyswarm/CMakeFiles/crazyswarm_server.dir/src/crazyswarm_server.cpp.o [ 93%] Built target crazyflie_driver_generate_messages Scanning dependencies of target crazyflie_add [ 94%] Building CXX object crazyflie_ros/crazyflie_driver/CMakeFiles/crazyflie_add.dir/src/crazyflie_add.cpp.o Scanning dependencies of target mocap_helper [ 94%] Building CXX object crazyswarm/CMakeFiles/mocap_helper.dir/src/mocap_helper.cpp.o [ 95%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_add [ 95%] Built target crazyflie_add [ 96%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyflie_driver/crazyflie_server [ 96%] Built target crazyflie_server [ 97%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyswarm/mocap_helper [ 97%] Built target mocap_helper In file included from /home/thomas/crazyswarm/ros_ws/src/crazyswarm/src/crazyswarm_server.cpp:62:0: /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp: In member function ‘void libobjecttracker::PointCloudPlayer::play(libobjecttracker::ObjectTracker&) const’: /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp:103:57: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘size_t {aka long unsigned int}’ [-Wformat=] printf("\n %d ------------------------------\n", i); ^ /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp: In member function ‘void libobjecttracker::PointCloudDebugger::convert(libobjecttracker::ObjectTracker&, std::vector<boost::shared_ptr<pcl::PointCloud > >&)’: /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp:139:57: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘size_t {aka long unsigned int}’ [-Wformat=] printf("\n %d ------------------------------\n", i); ^ /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp:152:55: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘std::vector::size_type {aka long unsigned int}’ [-Wformat=] printf("Object vector size: %d\n", objects.size());


In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
                 from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
                 from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
                 from /usr/include/pcl-1.8/pcl/registration/icp.h:45,
                 from /home/thomas/crazyswarm/ros_ws/src/externalDependencies/libobjecttracker/include/libobjecttracker/cloudlog.hpp:13,
                 from /home/thomas/crazyswarm/ros_ws/src/crazyswarm/src/crazyswarm_server.cpp:62:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
   SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
   ^~~~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 98%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server
[ 98%] Built target crazyswarm_server
Scanning dependencies of target crazyswarm_teleop
[ 98%] Building CXX object crazyswarm/CMakeFiles/crazyswarm_teleop.dir/src/crazyswarm_teleop.cpp.o
[100%] Linking CXX executable /home/thomas/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_teleop
[100%] Built target crazyswarm_teleop
`

((For the following, note that I implemented gdb debugging as done in issue #122 ))
$roslaunch crazyswarm hover_swarm.launch
`
... logging to /home/thomas/.ros/log/025879bc-c82e-11ea-8951-3ca0679047f5/roslaunch-pilot-16687.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://pilot:36497/

SUMMARY
========

PARAMETERS
 * /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/CF21SingleMarker/bigQuad: False
 * /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
 * /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
 * /crazyflieTypes/default/batteryVoltageWarning: 3.8
 * /crazyflieTypes/default/batteryVoltateCritical: 3.7
 * /crazyflieTypes/default/bigQuad: False
 * /crazyflieTypes/default/dynamicsConfiguration: 0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/default/markerConfiguration: 3
 * /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/defaultSingleMarker/bigQuad: False
 * /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
 * /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
 * /crazyflieTypes/large/batteryVoltageWarning: 11.4
 * /crazyflieTypes/large/batteryVoltateCritical: 11.1
 * /crazyflieTypes/large/bigQuad: True
 * /crazyflieTypes/large/dynamicsConfiguration: 0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
 * /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
 * /crazyflieTypes/large/markerConfiguration: 2
 * /crazyflieTypes/medium/batteryVoltageWarning: 7.6
 * /crazyflieTypes/medium/batteryVoltateCritical: 7.4
 * /crazyflieTypes/medium/bigQuad: True
 * /crazyflieTypes/medium/dynamicsConfiguration: 0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
 * /crazyflieTypes/medium/markerConfiguration: 1
 * /crazyflies: [{'initialPositio...
 * /crazyswarm_server/enable_logging: False
 * /crazyswarm_server/enable_parameters: True
 * /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
 * /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
 * /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
 * /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
 * /crazyswarm_server/firmwareParams/ring/effect: 16
 * /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
 * /crazyswarm_server/firmwareParams/ring/solidBlue: 255
 * /crazyswarm_server/firmwareParams/ring/solidGreen: 0
 * /crazyswarm_server/firmwareParams/ring/solidRed: 0
 * /crazyswarm_server/firmwareParams/stabilizer/controller: 2
 * /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
 * /crazyswarm_server/force_no_cache: False
 * /crazyswarm_server/genericLogTopicFrequencies: [10]
 * /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
 * /crazyswarm_server/genericLogTopics: ['log1']
 * /crazyswarm_server/motion_capture_type: optitrack
 * /crazyswarm_server/object_tracking_type: libobjecttracker
 * /crazyswarm_server/optitrack_host_name: 172.21.72.129
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/world_frame: /world
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/thomas/craz...
 * /crazyswarm_teleop/timescale: 0.8
 * /dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /dynamicsConfigurations/0/maxPitch: 1.4
 * /dynamicsConfigurations/0/maxPitchRate: 20.0
 * /dynamicsConfigurations/0/maxRoll: 1.4
 * /dynamicsConfigurations/0/maxRollRate: 20.0
 * /dynamicsConfigurations/0/maxXVelocity: 2.0
 * /dynamicsConfigurations/0/maxYVelocity: 2.0
 * /dynamicsConfigurations/0/maxYawRate: 10.0
 * /dynamicsConfigurations/0/maxZVelocity: 3.0
 * /joy/dev: /dev/input/js0
 * /markerConfigurations/0/numPoints: 4
 * /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /markerConfigurations/1/numPoints: 4
 * /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
 * /markerConfigurations/1/points/0: [-0.00896228, -0....
 * /markerConfigurations/1/points/1: [-0.0156318, 0.09...
 * /markerConfigurations/1/points/2: [0.0461693, -0.08...
 * /markerConfigurations/1/points/3: [-0.0789959, -0.0...
 * /markerConfigurations/2/numPoints: 4
 * /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
 * /markerConfigurations/2/points/0: [0.0558163, -0.00...
 * /markerConfigurations/2/points/1: [-0.0113941, 0.00...
 * /markerConfigurations/2/points/2: [-0.0306277, 0.05...
 * /markerConfigurations/2/points/3: [0.0535816, -0.04...
 * /markerConfigurations/3/numPoints: 1
 * /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/3/points/0: [0.0177184, 0.013...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 4
 * /rosdistro: melodic
 * /rosversion: 1.14.5

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

auto-starting new master
process[master]: started with pid [17165]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 025879bc-c82e-11ea-8951-3ca0679047f5
process[rosout-1]: started with pid [17447]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [17509]
process[joy-3]: started with pid [17515]
process[crazyswarm_teleop-4]: started with pid [17522]
[ERROR] [1594991053.349968161]: Couldn't open joystick /dev/input/js0. Will retry every second.
process[rviz-5]: started with pid [17537]
[ INFO] [1594991053.374597925]: Wait for services...
[ INFO] [1594991053.377152892]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rqt_plot_roll-6]: started with pid [17548]
`

with gdb debugging (as in issue #122 but in my case I have not modified optitrack.cpp)
`
![Screenshot from 2020-07-17 15-17-56](https://user-images.githubusercontent.com/36089032/87790400-cf52e580-c840-11ea-8425-057a75785495.png)
As you see the thread stops in its tracks, and a tcpdump shows that position data is streamed for 5s (and command data indefinitely) but hover_swarm motion capture implementation does not receive it.

`
ThomasCarstens commented 4 years ago

tcpdump:

tcpdump -vvv -XXX -n -i wlp2s0 'port 1510'

tcpdump: listening on wlp2s0, link-type EN10MB (Ethernet), capture size 262144 bytes 15:59:41.214639 IP (tos 0x0, ttl 64, id 28898, offset 0, flags [DF], proto UDP (17), length 32) 172.21.72.166.40365 > 172.21.72.129.1510: [bad udp cksum 0xe96f -> 0x72f0!] UDP, length 4 0x0000: 84a9 3e63 e471 3ca0 6790 47f5 0800 4500 ..>c.q<.g.G...E. 0x0010: 0020 70e2 4000 4011 e098 ac15 48a6 ac15 ..p.@.@.....H... 0x0020: 4881 9dad 05e6 000c e96f 0000 0000 H........o.... 15:59:41.217759 IP (tos 0x0, ttl 128, id 33764, offset 0, flags [none], proto UDP (17), length 311) 172.21.72.129.1510 > 172.21.72.166.40365: [udp sum ok] UDP, length 283 0x0000: 3ca0 6790 47f5 84a9 3e63 e471 0800 4500 <.g.G...>c.q..E. 0x0010: 0137 83e4 0000 8011 cc7f ac15 4881 ac15 .7..........H... 0x0020: 48a6 05e6 9dad 0123 c840 0100 1701 4d6f H......#.@....Mo 0x0030: 7469 7665 0069 6200 3100 0100 0000 ffff tive.ib.1....... 0x0040: ffff 0000 0000 0000 0000 0000 0000 0300 ................ 0x0050: 0000 b08c cd3d e95f f1b7 29ac 89bd a1a9 .....=._..)..... 0x0060: 4dbd ff59 8338 0a5e 89bd 4670 4dbd 0a04 M..Y.8.^..FpM... 0x0070: 0eb8 2785 093e 0000 0000 0000 0000 0000 ..'..>.......... 0x0080: 0000 0000 0000 6366 3100 0300 0000 4d61 ......cf1.....Ma 0x0090: 726b 6572 3100 4d61 726b 6572 3200 4d61 rker1.Marker2.Ma 0x00a0: 726b 6572 3300 0000 0000 616c 6c00 0300 rker3.....all... 0x00b0: 0000 6366 315f 3100 6366 315f 3200 6366 ..cf1_1.cf1_2.cf 0x00c0: 315f 3300 0500 0000 466c 6578 3133 2023 13.....Flex13.# 0x00d0: 3431 3039 3938 0079 1707 bff9 4fdb 3f2e 410998.y....O.?. 0x00e0: 248f beda 683e 3e78 d953 3f0f 86db 3e72 $...h>>x.S?...>r 0x00f0: 469f be05 0000 0046 6c65 7831 3320 2334 F......Flex13.#4 0x0100: 3130 3939 3500 8a94 16bf b978 dd3f 8f41 10995......x.?.A 0x0110: 893f 0730 ebbe 443d bcbe a7fd 33be ec0c .?.0..D=....3... 0x0120: 4a3f 0500 0000 466c 6578 3133 2023 0202 J?....Flex13.#.. 0x0130: 0000 0301 0000 8096 9800 0000 0000 e705 ................ 0x0140: 01ef ff2a 63 ...*c 15:59:41.217900 IP (tos 0x0, ttl 64, id 28899, offset 0, flags [DF], proto UDP (17), length 32) 172.21.72.166.40365 > 172.21.72.129.1510: [bad udp cksum 0xe96f -> 0x6ef0!] UDP, length 4 0x0000: 84a9 3e63 e471 3ca0 6790 47f5 0800 4500 ..>c.q<.g.G...E. 0x0010: 0020 70e3 4000 4011 e097 ac15 48a6 ac15 ..p.@.@.....H... 0x0020: 4881 9dad 05e6 000c e96f 0400 0000 H........o.... 15:59:41.220277 IP (tos 0x0, ttl 128, id 33765, offset 0, flags [none], proto UDP (17), length 370) 172.21.72.129.1510 > 172.21.72.166.40365: [udp sum ok] UDP, length 342 0x0000: 3ca0 6790 47f5 84a9 3e63 e471 0800 4500 <.g.G...>c.q..E. 0x0010: 0172 83e5 0000 8011 cc43 ac15 4881 ac15 .r.......C..H... 0x0020: 48a6 05e6 9dad 015e 5c87 0500 5201 0700 H......^...R... 0x0030: 0000 0100 0000 6366 3100 0100 0000 ffff ......cf1....... 0x0040: ffff 0000 0000 0000 0000 0000 0000 0300 ................ 0x0050: 0000 b08c cd3d e95f f1b7 29ac 89bd a1a9 .....=...)..... 0x0060: 4dbd ff59 8338 0a5e 89bd 4670 4dbd 0a04 M..Y.8.^..FpM... 0x0070: 0eb8 2785 093e 0000 0000 0000 0000 0000 ..'..>.......... 0x0080: 0000 0000 0000 6366 3100 0300 0000 4d61 ......cf1.....Ma 0x0090: 726b 6572 3100 4d61 726b 6572 3200 4d61 rker1.Marker2.Ma 0x00a0: 726b 6572 3300 0000 0000 616c 6c00 0300 rker3.....all... 0x00b0: 0000 6366 315f 3100 6366 315f 3200 6366 ..cf1_1.cf1_2.cf 0x00c0: 315f 3300 0500 0000 466c 6578 3133 2023 1_3.....Flex13.# 0x00d0: 3431 3039 3938 0079 1707 bff9 4fdb 3f2e 410998.y....O.?. 0x00e0: 248f beda 683e 3e78 d953 3f0f 86db 3e72 $...h>>x.S?...>r 0x00f0: 469f be05 0000 0046 6c65 7831 3320 2334 F......Flex13.#4 0x0100: 3130 3939 3500 8a94 16bf b978 dd3f 8f41 10995......x.?.A 0x0110: 893f 0730 ebbe 443d bcbe a7fd 33be ec0c .?.0..D=....3... 0x0120: 4a3f 0500 0000 466c 6578 3133 2023 3431 J?....Flex13.#41 0x0130: 3039 3937 002b 0b7e 3fdb c9dc 3fec 4cba 0997.+.~?...?.L. 0x0140: 3fe0 f1e4 beac 7b88 3e36 602a 3e8d 6256 ?.....{.>6`*>.bV 0x0150: 3f05 0000 0046 6c65 7831 3320 2334 3130 ?....Flex13.#410 0x0160: 3939 3600 aac7 8a3f d1ad dc3f 47eb 35be 996....?...?G.5. 0x0170: e97a 25be 8254 4c3f 3350 db3e a97d c83e .z%..TL?3P.>.}.> ^C 4 packets captured 4 packets received by filter 0 packets dropped by kernel

whoenig commented 4 years ago

Thanks for the detailed report. This seems to be an issue with NatNet and not really with the Crazyswarm usage of NatNet, so we can focus on debugging NatNetSDKCrossplatform first (see https://github.com/whoenig/NatNetSDKCrossplatform).

From your report, it looks like the command port (1510) works fine, but you don't receive any data (since mcr does not report anything). Note that the port for the data is different (1511 by default) and that it uses a different protocol, so you would need to check if you can receive multicast data on 239.255.42.99:1511.

I have used Ubuntu 18.04 with Motive before, so I don't think its an OS issue. Which Motive version are you running? Also, please double check the settings in Motive for streaming - perhaps the default multicast address/port have been changed in Motive.

ThomasCarstens commented 4 years ago

Okay, as we know ./mcr test will only give me server version and natnet version. But it does, in fact, trigger entry of data on 239.255.42.99:1511 as the ./mcr [ip] command lets me receive (encoded) data in a separate tcpdump. I have joined a strace ./mcr as well as a tcpdump on port 1511. All this occurs in multicast over wifi (however issue still occurs over ethernet). In fact something seems to be interrupting the Natnet service as seen in the strace.

tcpdump -vvv -XXX -n -i wlp2s0 'port 1511'

(Previous output omitted in comment )

18:22:16.076519 IP (tos 0x0, ttl 2, id 25138, offset 0, flags [none], proto UDP (17), length 110) 172.21.72.126.1511 > 239.255.42.99.1511: [udp sum ok] UDP, length 82 0x0000: 3ca0 6790 47f5 f406 690f 1f7c 0800 4500 <.g.G...i..|..E. 0x0010: 006e 6232 0000 0211 4757 ac15 487e efff .nb2....GW..H~.. 0x0020: 2a63 05e7 05e7 005a 6ef5 0700 4e00 1693 c.....Zn...N... 0x0030: 0c00 0000 0000 0000 0000 0000 0000 0000 ................ 0x0040: 0000 0000 0000 0000 0000 0000 0000 0000 ................ 0x0050: 0000 0000 0000 40ce ead3 30bf 8240 0000 ......@...0..@.. 0x0060: 0000 0000 0000 cdbb de58 2800 0000 44dd .........X(...D. 0x0070: de58 2800 0000 0000 0000 0000 .X(......... 18:22:16.085838 IP (tos 0x0, ttl 2, id 25139, offset 0, flags [none], proto UDP (17), length 110) 172.21.72.126.1511 > 239.255.42.99.1511: [udp sum ok] UDP, length 82 0x0000: 3ca0 6790 47f5 f406 690f 1f7c 0800 4500 <.g.G...i..|..E. 0x0010: 006e 6233 0000 0211 4756 ac15 487e efff .nb3....GV..H~.. 0x0020: 2a63 05e7 05e7 005a 8c3b 0700 4e00 1793 c.....Z.;..N... 0x0030: 0c00 0000 0000 0000 0000 0000 0000 0000 ................ 0x0040: 0000 0000 0000 0000 0000 0000 0000 0000 ................ 0x0050: 0000 0000 0000 7186 2c1c 42bf 8240 0000 ......q.,.B..@.. 0x0060: 0000 0000 0000 ad06 e058 2800 0000 bf4b .........X(....K 0x0070: e058 2800 0000 0000 0000 0000 .X(......... 18:22:16.094041 IP (tos 0x0, ttl 2, id 25140, offset 0, flags [none], proto UDP (17), length 110) 172.21.72.126.1511 > 239.255.42.99.1511: [udp sum ok] UDP, length 82 0x0000: 3ca0 6790 47f5 f406 690f 1f7c 0800 4500 <.g.G...i..|..E. 0x0010: 006e 6234 0000 0211 4755 ac15 487e efff .nb4....GU..H~.. 0x0020: 2a63 05e7 05e7 005a e5ca 0700 4e00 1893 c.....Z....N... 0x0030: 0c00 0000 0000 0000 0000 0000 0000 0000 ................ 0x0040: 0000 0000 0000 0000 0000 0000 0000 0000 ................ 0x0050: 0000 0000 0000 415b 1833 53bf 8240 0000 ......A[.3S..@.. 0x0060: 0000 0000 0000 5a4c e158 2800 0000 e88a ......ZL.X(..... 0x0070: e158 2800 0000 0000 0000 0000 .X(......... 18:22:16.102284 IP (tos 0x0, ttl 2, id 25141, offset 0, flags [none], proto UDP (17), length 110) 172.21.72.126.1511 > 239.255.42.99.1511: [udp sum ok] UDP, length 82 0x0000: 3ca0 6790 47f5 f406 690f 1f7c 0800 4500 <.g.G...i..|..E. 0x0010: 006e 6235 0000 0211 4754 ac15 487e efff .nb5....GT..H~.. 0x0020: 2a63 05e7 05e7 005a a640 0700 4e00 1993 c.....Z.@..N... 0x0030: 0c00 0000 0000 0000 0000 0000 0000 0000 ................ 0x0040: 0000 0000 0000 0000 0000 0000 0000 0000 ................ 0x0050: 0000 0000 0000 dc68 5b28 64bf 8240 0000 .......h[(d..@.. 0x0060: 0000 0000 0000 d690 e258 2800 0000 b9cd .........X(..... 0x0070: e258 2800 0000 0000 0000 0000 .X(......... 18:22:16.109810 IP (tos 0x0, ttl 2, id 25142, offset 0, flags [none], proto UDP (17), length 110) 172.21.72.126.1511 > 239.255.42.99.1511: [udp sum ok] UDP, length 82 0x0000: 3ca0 6790 47f5 f406 690f 1f7c 0800 4500 <.g.G...i..|..E. 0x0010: 006e 6236 0000 0211 4753 ac15 487e efff .nb6....GS..H~.. 0x0020: 2a63 05e7 05e7 005a 96a7 0700 4e00 1a93 *c.....Z....N... 0x0030: 0c00 0000 0000 0000 0000 0000 0000 0000 ................ 0x0040: 0000 0000 0000 0000 0000 0000 0000 0000 ................ 0x0050: 0000 0000 0000 94b6 5d0d 75bf 8240 0000 ........].u..@.. 0x0060: 0000 0000 0000 0fd1 e358 2800 0000 c1f3 .........X(..... 0x0070: e358 2800 0000 0000 0000 0000 .X(......... ^C 1243 packets captured 1555 packets received by filter 312 packets dropped by kernel

$ strace ./mcr 172.21.72.126 execve("./mcr", ["./mcr", "172.21.72.126"], 0x7ffc0d6d7688 / 85 vars /) = 0 brk(NULL) = 0x55aa787d6000 access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) mmap(NULL, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) = 0x7fc033704000 access("/etc/ld.so.preload", R_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/tls/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/tls/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/tls/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/tls/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/tls/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/tls/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/tls/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/tls", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/crazyflie_ws/devel/lib", {st_mode=S_IFDIR|0755, st_size=4096, ...}) = 0 openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/tls/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/tls/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/tls/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/tls/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/tls/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/tls/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/tls/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/tls", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/xarm_ws/devel/lib", {st_mode=S_IFDIR|0755, st_size=4096, ...}) = 0 openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/tls/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/tls/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/tls/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/tls/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/tls/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/tls/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/tls/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/tls", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/home/thomas/ros_project_dependencies_ws/devel/lib", {st_mode=S_IFDIR|0755, st_size=4096, ...}) = 0 openat(AT_FDCWD, "/opt/ros/melodic/lib/tls/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/tls/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/tls/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/tls/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/tls/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/tls/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/tls/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/tls", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/haswell/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/haswell/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/haswell/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/haswell", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/x86_64/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib/x86_64", 0x7ffdf4e98140) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) stat("/opt/ros/melodic/lib", {st_mode=S_IFDIR|0755, st_size=36864, ...}) = 0 openat(AT_FDCWD, "/etc/ld.so.cache", O_RDONLY|O_CLOEXEC) = 3 fstat(3, {st_mode=S_IFREG|0644, st_size=284778, ...}) = 0 mmap(NULL, 284778, PROT_READ, MAP_PRIVATE, 3, 0) = 0x7fc0336be000 close(3) = 0 access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\0\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0000\30\0\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0644, st_size=18544, ...}) = 0 mmap(NULL, 2113856, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc0332da000 mprotect(0x7fc0332de000, 2093056, PROT_NONE) = 0 mmap(0x7fc0334dd000, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x3000) = 0x7fc0334dd000 close(3) = 0 openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libpthread.so.0", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libpthread.so.0", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libpthread.so.0", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libpthread.so.0", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libpthread.so.0", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\0\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0000b\0\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0755, st_size=144976, ...}) = 0 mmap(NULL, 2221184, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc0330bb000 mprotect(0x7fc0330d5000, 2093056, PROT_NONE) = 0 mmap(0x7fc0332d4000, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x19000) = 0x7fc0332d4000 mmap(0x7fc0332d6000, 13440, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_ANONYMOUS, -1, 0) = 0x7fc0332d6000 close(3) = 0 openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libstdc++.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libstdc++.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libstdc++.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libstdc++.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\3\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0\220\304\10\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0644, st_size=1594864, ...}) = 0 mmap(NULL, 3702848, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc032d32000 mprotect(0x7fc032eab000, 2097152, PROT_NONE) = 0 mmap(0x7fc0330ab000, 49152, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x179000) = 0x7fc0330ab000 mmap(0x7fc0330b7000, 12352, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_ANONYMOUS, -1, 0) = 0x7fc0330b7000 close(3) = 0 openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libgcc_s.so.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libgcc_s.so.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libgcc_s.so.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libgcc_s.so.1", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libgcc_s.so.1", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\0\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0\300\0\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0644, st_size=96616, ...}) = 0 mmap(NULL, 2192432, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc032b1a000 mprotect(0x7fc032b31000, 2093056, PROT_NONE) = 0 mmap(0x7fc032d30000, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x16000) = 0x7fc032d30000 close(3) = 0 openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libc.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libc.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libc.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libc.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libc.so.6", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\3\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0\260\34\2\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0755, st_size=2030544, ...}) = 0 mmap(NULL, 4131552, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc032729000 mprotect(0x7fc032910000, 2097152, PROT_NONE) = 0 mmap(0x7fc032b10000, 24576, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x1e7000) = 0x7fc032b10000 mmap(0x7fc032b16000, 15072, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_ANONYMOUS, -1, 0) = 0x7fc032b16000 close(3) = 0 openat(AT_FDCWD, "/home/thomas/crazyflie_ws/devel/lib/libm.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/xarm_ws/devel/lib/libm.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/home/thomas/ros_project_dependencies_ws/devel/lib/libm.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/opt/ros/melodic/lib/libm.so.6", O_RDONLY|O_CLOEXEC) = -1 ENOENT (No such file or directory) access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or directory) openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libm.so.6", O_RDONLY|O_CLOEXEC) = 3 read(3, "\177ELF\2\1\1\3\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0\200\272\0\0\0\0\0\0"..., 832) = 832 fstat(3, {st_mode=S_IFREG|0644, st_size=1700792, ...}) = 0 mmap(NULL, 3789144, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) = 0x7fc03238b000 mprotect(0x7fc032528000, 2093056, PROT_NONE) = 0 mmap(0x7fc032727000, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|MAP_DENYWRITE, 3, 0x19c000) = 0x7fc032727000 close(3) = 0 mmap(NULL, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) = 0x7fc0336bc000 mmap(NULL, 12288, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) = 0x7fc0336b9000 arch_prctl(ARCH_SET_FS, 0x7fc0336b9740) = 0 mprotect(0x7fc032b10000, 16384, PROT_READ) = 0 mprotect(0x7fc032727000, 4096, PROT_READ) = 0 mprotect(0x7fc032d30000, 4096, PROT_READ) = 0 mprotect(0x7fc0330ab000, 40960, PROT_READ) = 0 mprotect(0x7fc0332d4000, 4096, PROT_READ) = 0 mprotect(0x7fc0334dd000, 4096, PROT_READ) = 0 mprotect(0x55aa7840b000, 8192, PROT_READ) = 0 mprotect(0x7fc033706000, 4096, PROT_READ) = 0 munmap(0x7fc0336be000, 284778) = 0 set_tid_address(0x7fc0336b9a10) = 16779 set_robust_list(0x7fc0336b9a20, 24) = 0 rt_sigaction(SIGRTMIN, {sa_handler=0x7fc0330c0cb0, sa_mask=[], sa_flags=SA_RESTORER|SA_SIGINFO, sa_restorer=0x7fc0330cd890}, NULL, 8) = 0 rt_sigaction(SIGRT_1, {sa_handler=0x7fc0330c0d50, sa_mask=[], sa_flags=SA_RESTORER|SA_RESTART|SA_SIGINFO, sa_restorer=0x7fc0330cd890}, NULL, 8) = 0 rt_sigprocmask(SIG_UNBLOCK, [RTMIN RT_1], NULL, 8) = 0 prlimit64(0, RLIMIT_STACK, NULL, {rlim_cur=81921024, rlim_max=RLIM64_INFINITY}) = 0 brk(NULL) = 0x55aa787d6000 brk(0x55aa787f7000) = 0x55aa787f7000 futex(0x7fc0330b809c, FUTEX_WAKE_PRIVATE, 2147483647) = 0 futex(0x7fc0330b80a8, FUTEX_WAKE_PRIVATE, 2147483647) = 0 eventfd2(0, EFD_CLOEXEC|EFD_NONBLOCK) = 3 epoll_create1(EPOLL_CLOEXEC) = 4 timerfd_create(CLOCK_MONOTONIC, TFD_CLOEXEC) = 5 epoll_ctl(4, EPOLL_CTL_ADD, 3, {EPOLLIN|EPOLLERR|EPOLLET, {u32=2021556280, u64=94190654357560}}) = 0 write(3, "\1\0\0\0\0\0\0\0", 8) = 8 epoll_ctl(4, EPOLL_CTL_ADD, 5, {EPOLLIN|EPOLLERR, {u32=2021556292, u64=94190654357572}}) = 0 socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP) = 6 epoll_ctl(4, EPOLL_CTL_ADD, 6, {EPOLLIN|EPOLLPRI|EPOLLERR|EPOLLHUP|EPOLLET, {u32=2021556384, u64=94190654357664}}) = 0 bind(6, {sa_family=AF_INET, sin_port=htons(0), sin_addr=inet_addr("0.0.0.0")}, 16) = 0 socket(AF_NETLINK, SOCK_RAW, NETLINK_ROUTE) = 7 bind(7, {sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, 12) = 0 getsockname(7, {sa_family=AF_NETLINK, nl_pid=16779, nl_groups=00000000}, [12]) = 0 sendto(7, {{len=20, type=RTM_GETADDR, flags=NLM_F_REQUEST|NLM_F_DUMP, seq=1595261646, pid=0}, {ifa_family=AF_UNSPEC, ...}}, 20, 0, {sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, 12) = 20 recvmsg(7, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[{{len=76, type=RTM_NEWADDR, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, {ifa_family=AF_INET, ifa_prefixlen=8, ifa_flags=IFA_F_PERMANENT, ifa_scope=RT_SCOPE_HOST, ifa_index=if_nametoindex("lo")}, [{{nla_len=8, nla_type=IFA_ADDRESS}, 127.0.0.1}, {{nla_len=8, nla_type=IFA_LOCAL}, 127.0.0.1}, {{nla_len=7, nla_type=IFA_LABEL}, "lo"}, {{nla_len=8, nla_type=IFA_FLAGS}, IFA_F_PERMANENT}, {{nla_len=20, nla_type=IFA_CACHEINFO}, {ifa_prefered=4294967295, ifa_valid=4294967295, cstamp=1335, tstamp=1335}}]}, {{len=88, type=RTM_NEWADDR, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, {ifa_family=AF_INET, ifa_prefixlen=22, ifa_flags=0, ifa_scope=RT_SCOPE_UNIVERSE, ifa_index=if_nametoindex("wlp2s0")}, [{{nla_len=8, nla_type=IFA_ADDRESS}, 172.21.72.166}, {{nla_len=8, nla_type=IFA_LOCAL}, 172.21.72.166}, {{nla_len=8, nla_type=IFA_BROADCAST}, 172.21.75.255}, {{nla_len=11, nla_type=IFA_LABEL}, "wlp2s0"}, {{nla_len=8, nla_type=IFA_FLAGS}, IFA_F_NOPREFIXROUTE}, {{nla_len=20, nla_type=IFA_CACHEINFO}, {ifa_prefered=13869, ifa_valid=13869, cstamp=6432, tstamp=1267065}}]}, {{len=88, type=RTM_NEWADDR, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, {ifa_family=AF_INET, ifa_prefixlen=16, ifa_flags=IFA_F_PERMANENT, ifa_scope=RT_SCOPE_UNIVERSE, ifa_index=if_nametoindex("docker0")}, [{{nla_len=8, nla_type=IFA_ADDRESS}, 172.17.0.1}, {{nla_len=8, nla_type=IFA_LOCAL}, 172.17.0.1}, {{nla_len=8, nla_type=IFA_BROADCAST}, 172.17.255.255}, {{nla_len=12, nla_type=IFA_LABEL}, "docker0"}, {{nla_len=8, nla_type=IFA_FLAGS}, IFA_F_PERMANENT}, {{nla_len=20, nla_type=IFA_CACHEINFO}, {ifa_prefered=4294967295, ifa_valid=4294967295, cstamp=10088, tstamp=10088}}]}], iov_len=4096}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 252 recvmsg(7, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base=[{{len=72, type=RTM_NEWADDR, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, {ifa_family=AF_INET6, ifa_prefixlen=128, ifa_flags=IFA_F_PERMANENT, ifa_scope=RT_SCOPE_HOST, ifa_index=if_nametoindex("lo")}, [{{nla_len=20, nla_type=IFA_ADDRESS}, ::1}, {{nla_len=20, nla_type=IFA_CACHEINFO}, {ifa_prefered=4294967295, ifa_valid=4294967295, cstamp=1335, tstamp=1335}}, {{nla_len=8, nla_type=IFA_FLAGS}, IFA_F_PERMANENT}]}, {{len=72, type=RTM_NEWADDR, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, {ifa_family=AF_INET6, ifa_prefixlen=64, ifa_flags=IFA_F_PERMANENT, ifa_scope=RT_SCOPE_LINK, ifa_index=if_nametoindex("wlp2s0")}, [{{nla_len=20, nla_type=IFA_ADDRESS}, fe80::c683:f88f:ff24:2928}, {{nla_len=20, nla_type=IFA_CACHEINFO}, {ifa_prefered=4294967295, ifa_valid=4294967295, cstamp=6420, tstamp=6576}}, {{nla_len=8, nla_type=IFA_FLAGS}, IFA_F_PERMANENT|IFA_F_NOPREFIXROUTE}]}], iov_len=4096}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 144 recvmsg(7, {msg_name={sa_family=AF_NETLINK, nl_pid=0, nl_groups=00000000}, msg_namelen=12, msg_iov=[{iov_base={{len=20, type=NLMSG_DONE, flags=NLM_F_MULTI, seq=1595261646, pid=16779}, 0}, iov_len=4096}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 20 socket(AF_UNIX, SOCK_STREAM|SOCK_CLOEXEC|SOCK_NONBLOCK, 0) = 8 connect(8, {sa_family=AF_UNIX, sun_path="/var/run/nscd/socket"}, 110) = -1 ENOENT (No such file or directory) close(8) = 0 close(7) = 0 sendmsg(6, {msg_name={sa_family=AF_INET, sin_port=htons(1510), sin_addr=inet_addr("172.21.72.126")}, msg_namelen=16, msg_iov=[{iov_base="\0\0\0\0", iov_len=4}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, MSG_NOSIGNAL) = 4 brk(0x55aa78822000) = 0x55aa78822000 recvmsg(6, {msg_name={sa_family=AF_INET, sin_port=htons(1510), sin_addr=inet_addr("172.21.72.126")}, msg_namelen=28->16, msg_iov=[{iov_base="\1\0\27\1Motive\0ib\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"..., iov_len=100000}], msg_iovlen=1, msg_controllen=0, msg_flags=0}, 0) = 283 fstat(1, {st_mode=S_IFCHR|0620, st_rdev=makedev(136, 3), ...}) = 0 write(1, "NatNetVersion: 128.150.152.0\n", 29NatNetVersion: 128.150.152.0 ) = 29 write(1, "ServerVersion: 3.1.0.0\n", 23ServerVersion: 3.1.0.0 ) = 23 eventfd2(0, EFD_CLOEXEC|EFD_NONBLOCK) = 7 epoll_create1(EPOLL_CLOEXEC) = 8 timerfd_create(CLOCK_MONOTONIC, TFD_CLOEXEC) = 9 epoll_ctl(8, EPOLL_CTL_ADD, 7, {EPOLLIN|EPOLLERR|EPOLLET, {u32=2021660328, u64=94190654461608}}) = 0 write(7, "\1\0\0\0\0\0\0\0", 8) = 8 epoll_ctl(8, EPOLL_CTL_ADD, 9, {EPOLLIN|EPOLLERR, {u32=2021660340, u64=94190654461620}}) = 0 socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP) = 10 epoll_ctl(8, EPOLL_CTL_ADD, 10, {EPOLLIN|EPOLLPRI|EPOLLERR|EPOLLHUP|EPOLLET, {u32=2021680448, u64=94190654481728}}) = 0 setsockopt(10, SOL_SOCKET, SO_REUSEADDR, [1], 4) = 0 bind(10, {sa_family=AF_INET, sin_port=htons(1511), sin_addr=inet_addr("0.0.0.0")}, 16) = 0 setsockopt(10, SOL_IP, IP_ADD_MEMBERSHIP, {imr_multiaddr=inet_addr("239.255.42.99"), imr_interface=inet_addr("0.0.0.0")}, 8) = 0 ioctl(10, FIONBIO, [1]) = 0 recvmsg(10, {msg_namelen=28}, 0) = -1 EAGAIN (Resource temporarily unavailable) epoll_wait(8, [{EPOLLIN, {u32=2021660328, u64=94190654461608}}], 128, -1) = 1 epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8, 0x7ffdf4e98150, 128, -1) = -1 EINTR (Interrupted system call) --- SIGWINCH {si_signo=SIGWINCH, si_code=SI_KERNEL} --- epoll_wait(8,

whoenig commented 4 years ago

I just pushed a change to NatNetSDKCrossplatform with some additional error reporting. It looks boost asio is causing some trouble. Your strace error is pretty low level, so I hope that the boost asio one might be a bit more informative. Perhaps you could run that on your end?

ThomasCarstens commented 4 years ago

I run ./mcr and there's the same output (after pulling the change and compiling again). I'm not familiar with boost asio, I assume you mean another strace?

whoenig commented 4 years ago

Boost asio is a C++ library we rely on for the networking component (i.e., receiving multi-cast packets). I read up on some very old issues and it can be related to a machine that has multiple network cards and a missing route (see https://svn.boost.org/trac10/ticket/6446, first comment). The easiest fix seems to be to join the multicast group by specifying your local IP directly (see https://stackoverflow.com/questions/18491877/boostasio-multicast-listen-address).

There is a new branch with those changes for you to test (https://github.com/whoenig/NatNetSDKCrossplatform/tree/bug-recv-issue). There is no need for strace, but please run netstat -g if there are still issues. Note that this new version requires two arguments: mcr <optitrack-ip> <local-interface-ip>.

ThomasCarstens commented 4 years ago

$ ./mcr 172.21.72.126 192.168.1.101 NatNetVersion: 128.150.152.0 ServerVersion: 3.1.0.0

$ netstat -g IPv6/IPv4 Group Memberships Interface RefCnt Group

lo 1 224.0.0.251 lo 1 all-systems.mcast.net eno1 1 239.255.42.99 eno1 1 224.0.0.251 eno1 1 all-systems.mcast.net lo 1 ff02::fb lo 1 ip6-allnodes lo 1 ff01::1 eno1 1 ff02::fb eno1 1 ff02::1:ffd6:f7d1 eno1 1 ip6-allnodes eno1 1 ff01::1

Group does exist on eno1 and it is running multicast

$ ifconfig eno1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500 inet 192.168.1.101 netmask 255.255.255.0 broadcast 192.168.1.255 inet6 fe80::9eb8:3f17:d1d6:f7d1 prefixlen 64 scopeid 0x20 ether 84:a9:3e:60:b3:aa txqueuelen 1000 (Ethernet) RX packets 12624 bytes 6340156 (6.3 MB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 70617 bytes 8902318 (8.9 MB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 device interrupt 16 memory 0xe2380000-e23a0000

lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536 inet 127.0.0.1 netmask 255.0.0.0 inet6 ::1 prefixlen 128 scopeid 0x10 loop txqueuelen 1000 (Local Loopback) RX packets 7715544 bytes 1556990084 (1.5 GB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 7715544 bytes 1556990084 (1.5 GB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

ThomasCarstens commented 4 years ago

I have noticed that a Linux SampleClient from NaturalPoint also does not output data. The code is unsupported at this stage , it does give a log of errors from the NatNetlib API that could help here. It shows descriptions being read and along the line the connection is dropped. I suspect that the receiver buffer is too large but I have not found how to change the size of the buffer. Your own code seems to attribute a size dynamically according to packet size, is that correct?

NatNet Sample Client (NatNet ver. 3.1.0.0)

[NatNetLib] [INFO]: [Client] Initializing using ethernet address: 192.168.1.101

[NatNetLib] [INFO]: [Client] Initializing command listener.

[NatNetLib] [ERROR]: [Client] Receive Buffer Size: 425984

[NatNetLib] [INFO]: [Client] Host information received. (HostApp: Motive HostVer: 2.2.0.0 HostIP: 172.21.72.126 ()

[NatNetLib] [INFO]: [Client] Initializing data listener.

[NatNetLib] [WARN]: [HELPER] ReceiveBuffer size = 425984

[NatNetLib] [ERROR]: [Client] Unable to get host information for 172.21.72.126.

[NatNetLib] [INFO]: [Client] Connected.

[SampleClient] Server application info: Application: Motive (ver. 2.2.0.0) NatNet Version: 3.1.0.0 Client IP:(null) Server IP:172.21.72.126 Server Name: Mocap Framerate : 120.00 Analog Samples Per Mocap Frame : 0 Client initialized and ready. [SampleClient] Sending Test Request

[SampleClient] Requesting Data Descriptions...[SampleClient] Received 7 Data Descriptions: Data Description # 0 (type=1) RigidBody Name : RigidBody RigidBody ID : 1 RigidBody Parent ID : -1 Parent Offset : 0.00,0.00,0.00 Marker #0: Position: 0.10, 0.00, -0.07 Marker #1: Position: -0.04, -0.00, 0.14 Marker #2: Position: -0.05, 0.00, -0.06 Data Description # 1 (type=0) MarkerSet Name : RigidBody Marker1 Marker2 Marker3 Data Description # 2 (type=0) MarkerSet Name : all RigidBody_1 RigidBody_2 RigidBody_3 Data Description # 3 (type=5) Unknown data type.Data Description # 4 (type=5) Unknown data type.Data Description # 5 (type=5) Unknown data type.Data Description # 6 (type=5) Unknown data type. Client is connected to server and listening for data...

[NatNetLib] [ERROR]: Socket error 107: Transport endpoint is not connected

[NatNetLib] [ERROR]: Socket error 107: Transport endpoint is not connected

whoenig commented 4 years ago
  1. So it looks like mcr does the right thing now, at least according to netstat and ifconfig. Did you double check that tcpdump still receives data while mcr is running and not showing any output? Also I noticed that the interface seems to have changed - in your previous report your interface name was wlp2s0, but now it is eno1?
  2. Good to know that there is a Linux Sample Client now. Too bad that it is still not officially supported. From your output, it actually looks like it is the same problem: the data channel works fine (the data description query seems to be done on the data channel), but your multicast doesn't (getting that socket error 107). The Unknown data type.Data Description is probably not a problem: perhaps your Motive 2.2 added some new features that are not in the SDK, yet. If it is an option, you might want to downgrade to an older Motive version and try again.
  3. Perhaps you could try a simple multicast receiver in another language? Here is an example for Python. If there is an error or any semantic difference with respect to the OS calls being made, that might help to investigate further.
ThomasCarstens commented 4 years ago

To get back to you on this, I now have Optitrack streaming to Linux. There were three key issues: Multicast had to be enabled on Linux, The firewall had to accept streaming info on the ports, on top of being disabled The machines had to ping to eachother for an unknown reason before multicast being triggered That's it, glad to send more if needed

whoenig commented 4 years ago

Thanks for the update - that's great. I'd like to improve the documentation with this information. Would you be able to add some more details? Especially the first point is unclear to me. Also, is the ping required just once? Before or after the receiver application is launched?

whoenig commented 2 years ago

Closing this due to inactivity.