no cfs in rviz when using lps

[Supredan]

Hi,
I am using LPS to run crazyswarm, everything works fine, except that rviz cannot display the cf's trace. but here says :

Furthermore, rviz will show the estimated pose of all CFs.

i also see here #108 :

Yes - there is no data streaming. One possibility would be to enable logging, log the current state estimate, and sent this to rviz. This hasn't been implemented so far (and you would need a good number of radios for a high update rate.)

But I still can’t subscribe any useful topic in rviz after Enable the log. Is there any more detailed instructions or tutorials? Thanks very much!!!

[Supredan]

<?xml version="1.0"?>
<launch>
  <arg name="joy_dev" default="/dev/input/js0" />

  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflieTypes.yaml" />
  <rosparam command="load" file="$(find crazyswarm)/launch/crazyflies.yaml" />

  <node pkg="crazyswarm" type="crazyswarm_server" name="crazyswarm_server" output="screen" >
    <rosparam>
      world_frame: "/world"
      # Logging configuration (Use enable_logging to actually enable logging)
      genericLogTopics: ["log1"]
      genericLogTopicFrequencies: [10]
      genericLogTopic_log1_Variables: ["stateEstimate.z", "ctrltarget.x"]
      # firmware parameters for all drones (use crazyflieTypes.yaml to set per type, or
      # allCrazyflies.yaml to set per drone)
      firmwareParams:
        commander:
          enHighLevel: 1
        stabilizer:
          estimator: 2 # 1: complementary, 2: kalman
          controller: 2 # 1: PID, 2: mellinger
        ring:
          effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
          solidBlue: 255 # if set to solid color
          solidGreen: 0 # if set to solid color
          solidRed: 0 # if set to solid color
          headlightEnable: 0
        locSrv:
          extPosStdDev: 1e-3
          extQuatStdDev: 0.5e-1
        kalman:
          resetEstimation: 1
      # tracking
      motion_capture_type: "none" # one of none,vicon,optitrack,qualisys,vrpn
      object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
      send_position_only: False # set to False to send position+orientation; set to True to send position only
      vicon_host_name: "vicon"
      # optitrack_host_name: "optitrack"
      # qualisys_host_name: "10.0.5.219"
      # qualisys_base_port: 22222
      # vrpn_host_name: "vicon"
      save_point_clouds: ~/pointCloud.ot
      print_latency: False
      write_csvs: False
      force_no_cache: False
      enable_parameters: True
      enable_logging: True
    </rosparam>
  </node>

  <node name="joy" pkg="joy" type="joy_node" output="screen">
    <param name="dev" value="$(arg joy_dev)" />
  </node>

  <node pkg="crazyswarm" type="crazyswarm_teleop" name="crazyswarm_teleop" output="screen">
    <param name="csv_file" value="$(find crazyswarm)/launch/figure8_smooth.csv" />
    <param name="timescale" value="0.8" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyswarm)/launch/test.rviz"/>

  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_x" args="/cf2/log1/values[0]"/> -->
  <!-- <node pkg="rqt_plot" type="rqt_plot" name="rqt_plot_roll" args="/cf1/log1/values[2] /cf1/log1/values[3]"/> -->

</launch>

BTW here is my hover_swarm.launch, should i make some change in Logging configuration?