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ros-drivers / mocap_optitrack

ROS nodes for working with the NaturalPoint Optitrack motion capture setup
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Motive 3.1.0 / NatNet 4.1.0.0 Compatibility #80

Closed mruggia closed 1 year ago

mruggia commented 1 year ago

Hi there,

It appears to me that this driver is not compatible with the current version of Motive 3.1.0 using NatNet 4.1.

Is my guess correct? will NatNet 4.1 compatibility be added anytime soon? and what is the best course of action for people that do not have a Motive 2.X license (Natnet 3.X)?

Here below is a log of the deserialize call showing junk data being read, while there should only be 1 rigid body:

[ INFO] [1699878293.324722900]: === BEGIN DATA FRAME ===
[ INFO] [1699878293.324848700]: Frame number: 1244119
[ INFO] [1699878293.324936400]: *** MARKER SETS ***
[ INFO] [1699878293.325069100]: Marker set count: 0
[ INFO] [1699878293.325152600]: *** UNLABELED MARKERS (Deprecated) ***
[ INFO] [1699878293.325242700]: Unlabled marker count: 0
[ INFO] [1699878293.325325500]: *** RIGID BODIES ***
[ INFO] [1699878293.325405300]: Rigid count: 0
[ INFO] [1699878293.325492400]: *** SKELETONS ***
[ INFO] [1699878293.325611300]: Skeleton count: 0
[ INFO] [1699878293.325694500]: *** LABELED MARKERS ***
[ INFO] [1699878293.325787100]: Labeled marker count: 1
[ INFO] [1699878293.325872600]:   MarkerID: 0, ModelID: 0
[ INFO] [1699878293.325955900]:     Pos: [0.00,0.12,0.30]
[ INFO] [1699878293.326036300]:     Size: 0.24
[ INFO] [1699878293.326119400]:     Residual:  0.00
[ INFO] [1699878293.326201600]: *** FORCE PLATES ***
[ INFO] [1699878293.326281800]: Force plate count: 588921634
[ INFO] [1699878293.326364700]: Force plate ID: -1255490099
[ INFO] [1699878293.326445400]:   Number of channels: -324124802
[ INFO] [1699878293.326532800]: Force plate ID: 80358
[ INFO] [1699878293.326612300]:   Number of channels: 0
[ INFO] [1699878293.326693200]: Force plate ID: 0
[ INFO] [1699878293.326773300]:   Number of channels: 0
[ INFO] [1699878293.326852500]: Force plate ID: 0
[ INFO] [1699878293.326932800]:   Number of channels: 0
[ INFO] [1699878293.327012800]: Force plate ID: 0
[ INFO] [1699878293.327091600]:   Number of channels: 0
[ INFO] [1699878293.327173600]: Force plate ID: 0
[ INFO] [1699878293.327252900]:   Number of channels: 0
[ INFO] [1699878293.327333000]: Force plate ID: 0
[ INFO] [1699878293.327412000]:   Number of channels: 0
[ INFO] [1699878293.327491300]: Force plate ID: 0
[ INFO] [1699878293.327570600]:   Number of channels: 1145324612
[ INFO] [1699878293.327653300]:     Channel 0:
[ INFO] [1699878293.327751900]:       Frame 0: 1439.10
[ INFO] [1699878293.327840400]:       Frame 1: 0.00
[ INFO] [1699878293.327923100]:       Frame 2: 1444.44
[ INFO] [1699878293.328018400]:       Frame 3: 0.00
[ INFO] [1699878293.328115500]:       Frame 4: 1445.10
[ INFO] [1699878293.328204000]:       Frame 5: 0.00
[ INFO] [1699878293.328292100]:       Frame 6: 0.00
[ INFO] [1699878293.328373800]:       Frame 7: 0.00
[ INFO] [1699878293.328471100]:       Frame 8: 0.00
[ INFO] [1699878293.328586400]:       Frame 9: 0.00
[ INFO] [1699878293.328713200]:       Frame 10: 0.00
[ INFO] [1699878293.328820200]:       Frame 11: 0.00
[ INFO] [1699878293.328956100]:       Frame 12: -66113130760175032991744.00
[ INFO] [1699878293.329061300]:       Frame 13: nan
[ INFO] [1699878293.329164200]:       Frame 14: -49517601571415210995964968960.00
[ INFO] [1699878293.329276800]:       Frame 15: nan
[ INFO] [1699878293.329384800]:       Frame 16: -1237940039285380274899124224.00
[ INFO] [1699878293.329536900]:       Frame 17: nan
[ INFO] [1699878293.329706200]:       Frame 18: -713053462628379038341895553024.00
[ INFO] [1699878293.329862500]:       Frame 19: nan
[ INFO] [1699878293.330018900]:       Frame 20: 0.00
[ INFO] [1699878293.330181100]:       Frame 21: nan
[ INFO] [1699878293.330325900]:       Frame 22: -604462909807314587353088.00
[ INFO] [1699878293.330409900]:       Frame 23: nan
[ INFO] [1699878293.330490800]:       Frame 24: 0.00
[ INFO] [1699878293.330570600]:       Frame 25: nan
[ INFO] [1699878293.330650700]:       Frame 26: 0.00
[ INFO] [1699878293.330731500]:       Frame 27: nan
[ INFO] [1699878293.330811500]:       Frame 28: 0.00
mruggia commented 1 year ago

@Murad275, I used another Repo and it worked for me: https://github.com/L2S-lab/natnet_ros_cpp.git