[mocap_helper-2] process has died when launching mocap_helper.launch

[thibaultdesurrel]

Hello,

We are a group of students trying to use crazyswarm paired with an optitrack mocap system for a school project. We followed the configuration tutorial thoroughly but we ran into an issue when launching mocap_helper.launch.

thibault@thibault-OMEN-by-HP-Laptop:~/crazyswarm/ros_ws/src/crazyswarm/launch$ roslaunch mocap_helper.launch 
... logging to /home/thibault/.ros/log/141372de-a9b4-11eb-87b6-e5333552ae69/roslaunch-thibault-OMEN-by-HP-Laptop-9734.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://thibault-OMEN-by-HP-Laptop:41177/

SUMMARY
========

PARAMETERS
 * /mocap_helper/motion_capture_type: optitrack
 * /mocap_helper/object_tracking_type: motionCapture
 * /mocap_helper/optitrack_host_name: optitrack
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /
    mocap_helper (crazyswarm/mocap_helper)

auto-starting new master
process[master]: started with pid [10921]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 93333866-a9b8-11eb-87b6-e5333552ae69
process[rosout-1]: started with pid [10931]
started core service [/rosout]
process[mocap_helper-2]: started with pid [10934]
frame 0:
[mocap_helper-2] process has died [pid 10934, exit code -11, cmd /home/thibault/crazyswarm/ros_ws/devel/lib/crazyswarm/mocap_helper __name:=mocap_helper __log:=/home/thibault/.ros/log/93333866-a9b8-11eb-87b6-e5333552ae69/mocap_helper-2.log].

Our program is configured using the hosts file in /etc, 147.250.35.30 being the ip of the pc running motive, and 127.0.1.1 our pc running ros

127.0.1.1   localhost
127.0.1.1   thibault-OMEN-by-HP-Laptop
147.250.35.30 optitrack

Our crazyflies.yaml file :

crazyflies:
- channel: 100
  id: 1
  initialPosition:
  - 1.5
  - 1.5
  - 0.0
  type: medium
- channel: 110
  id: 2
  initialPosition:
  - -1.0
  - -0.5
  - 0.0
  type: default

mocap_helper.launch:

<?xml version="1.0"?>
<launch>

  <node pkg="crazyswarm" type="mocap_helper" name="mocap_helper" output="screen" >
    <rosparam>
      # tracking
      motion_capture_type: "optitrack" # one of vicon,optitrack,qualisys,vrpn
      object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
      #vicon_host_name: "vicon"
      optitrack_host_name: "optitrack"
      # qualisys_host_name: "10.0.5.219"
      # qualisys_base_port: 22222
      # vrpn_host_name: "vicon"
    </rosparam>
  </node>
</launch>

Does anyone know where this error might come from and how to fix it? Thanks in advance for your answers.

[whoenig]

How is Motive configured? Make sure you only stream rigid bodies and nothing else, or have the latest version of libMotionCapture (needs to be pulled manually currently).

If that doesn't help, please report if https://github.com/whoenig/NatNetSDKCrossplatform works for you, as libMotionCapture is build around that.

[thibaultdesurrel]

Hello thanks for your answer,

The motioncapture parameter was a mistake, we changed that because we want to use the ICP to have redundant marker configuration. Our corrected mocap_helper.launch:

<?xml version="1.0"?>
<launch>

  <node pkg="crazyswarm" type="mocap_helper" name="mocap_helper" output="screen" >
    <rosparam>
      # tracking
      motion_capture_type: "optitrack" # one of vicon,optitrack,qualisys,vrpn
      object_tracking_type: "libobjecttracker" # one of motionCapture,libobjecttracker
      #vicon_host_name: "vicon"
      optitrack_host_name: "optitrack"
      # qualisys_host_name: "10.0.5.219"
      # qualisys_base_port: 22222
      # vrpn_host_name: "vicon"
    </rosparam>
  </node>
</launch>

And this is our motive settings (therefore rigid bodies at turned of)

However right now we run into this error:

thibault@thibault-OMEN-by-HP-Laptop:~/crazyswarm/ros_ws/src/crazyswarm/launch$ roslaunch mocap_helper.launch 
... logging to /home/thibault/.ros/log/2e3c9eea-acea-11eb-b16e-81002bd18a24/roslaunch-thibault-OMEN-by-HP-Laptop-9511.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://thibault-OMEN-by-HP-Laptop:41093/

SUMMARY
========

PARAMETERS
 * /mocap_helper/motion_capture_type: optitrack
 * /mocap_helper/object_tracking_type: libobjecttracker
 * /mocap_helper/optitrack_host_name: optitrack
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES
  /
    mocap_helper (crazyswarm/mocap_helper)

auto-starting new master
process[master]: started with pid [9519]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2e3c9eea-acea-11eb-b16e-81002bd18a24
process[rosout-1]: started with pid [9529]
started core service [/rosout]
ERROR: cannot launch node of type [crazyswarm/mocap_helper]: crazyswarm
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share

Do you know what might cause this? We tried to change lines 6 to 8 of libmotioncapture/CMakeLists.txt by

set(ENABLE_OPTITRACK True CACHE STRING "Enable Optitrack")
set(ENABLE_VICON False CACHE STRING "Enable Vicon")
set(ENABLE_PHASESPACE False CACHE STRING "Enable Phasespace")

but to no avail. Thanks in advance for your answers!