Mocap data is not updated. (using Optitrack)

[WoodyloveBo]

hello.

When you run ros2 launch crazyflie launch.py, Crazyradio connects for a moment (green light) and then turns off and the following error continues to appear. I'm using two PCs, and on one PC I'm using Motive to track markers. The remaining one receives the motive data and moves the robot with ROS2.

As a result of using NatetSDKCrossPlatform, there appears to be no problem in receiving parameters. However, if you only use ros2 launch crazyflie launch.py, the cf3 pose will not be updated.

NatnetSDK_data.webm

My yaml files are as follows:

crazyflies.yaml

named list of all robots

robots:
cf3:
enabled: true
uri: radio://0/100/2M/E7E7E7E703
initial_position: [0, 0, 0]
type: cf21 # see robot_types
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
# firmware_logging:
# enabled: true
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y"]
cf5:
enabled: false
uri: radio://0/80/2M/E7E7E7E705
initial_position: [0, -0.5, 0]
type: cf21 # see robot_types
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y", "acc.z"]

Definition of the various robot types

robot_types:
cf21:
motion_capture:
enabled: true
# only if enabled; see motion_capture.yaml
marker: default
dynamics: default
big_quad: false
battery:
voltage_warning: 3.8 # V
voltage_critical: 3.7 # V
# firmware_params:
# kalman:
# pNAcc_xy: 1.0 # default 0.5
#firmware_logging:
# enabled: true
# default_topics:
# pose:
# frequency: 1 # Hz
# custom_topics:
# topic_name3:
# frequency: 1
# vars: ["acc.x", "acc.y", "acc.z"]

cf21_mocap_deck:
motion_capture:
enabled: true
# only if enabled; see motion_capture.yaml
marker: mocap_deck
dynamics: default
big_quad: false
battery:
voltage_warning: 3.8 # V
voltage_critical: 3.7 # V

# firmware_params:
#   kalman:
#     pNAcc_xy: 1.0 # default 0.5

global settings for all robots

all:

firmware logging for all drones (use robot_types/type_name to set per type, or

robots/drone_name to set per drone)

firmware_logging:
enabled: true
default_topics:
# remove to disable default topic
pose:
frequency: 10 # Hz
status:
frequency: 1 # Hz
#custom_topics:
# topic_name1:
# frequency: 10 # Hz
# vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
# topic_name2:
# frequency: 1 # Hz
# vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]

firmware parameters for all drones (use robot_types/type_name to set per type, or

robots/drone_name to set per drone)

firmware_params:
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
broadcasts:
num_repeats: 15 # number of times broadcast commands are repeated
delay_between_repeats_ms: 1 # delay in milliseconds between individual repeats

motion_capture.yaml

/motion_capture_tracking:
ros__parameters:
type: "optitrack"
hostname: "192.168.0.15"

mode: "motionCapture" # one of motionCapture,libRigidBodyTracker

topics:
  poses:
    qos:
      mode: "sensor"
      deadline: 100.0 # Hz

marker_configurations:
  default: # for standard Crazyflie
    offset: [0.0, 0.0, 0.0]
    points:
      p0: [   0.0,    0.0, 0.022]  # top
      p1: [-0.042,  0.042, 0.0  ]  # back left   (M3)
      p2: [-0.042, -0.042, 0.0  ]  # back right  (M2)
      p3: [ 0.042, -0.042, 0.0  ]  # front right (M1)
  default_single_marker:
    offset: [0.0, -0.01, -0.04]
    points:
      p0: [0.0177184,0.0139654,0.0557585]
  mocap_deck:
    offset: [0.0, 0.0, -0.01]
    points:
      p0: [0.03, 0.0, 0.0] # front
      p1: [0.00, -0.03, 0.0] # right
      p2: [-0.015, 0.0, 0.0] # back
      p3: [0.00, 0.03, 0.0] # left
  medium_frame:
    offset: [0.0, 0.0, -0.03]
    points:
      p0: [-0.00896228,-0.000716753,0.0716129]
      p1: [-0.0156318,0.0997402,0.0508162]
      p2: [0.0461693,-0.0881012,0.0380672]
      p3: [-0.0789959,-0.0269793,0.0461144]
  big_frame:
    offset: [0.0, 0.0, -0.06]
    points:
      p0: [0.0558163,-0.00196302,0.0945539]
      p1: [-0.0113941,0.00945842,0.0984811]
      p2: [-0.0306277,0.0514879,0.0520456]
      p3: [0.0535816,-0.0400775,0.0432799]

dynamics_configurations:
  default:
    max_velocity: [2, 2, 3] # m/s
    max_angular_velocity: [20, 20, 10] # rad/s
    max_roll: 1.4 #rad
    max_pitch: 1.4 #rad
    max_fitness_score: 0.001

# Rigid bodies will be automatically generated by the launch file
# rigid_bodies:

I would appreciate it if you could let me know what the problem is.

[whoenig]

Is the robot an asset in Motive? If so, set motion_capture/enabled to false.

[whoenig]

NOKOV: You would create that folder yourself.

For the error, what are the detailed error messages and which node is it generated by?

[WoodyloveBo]

amrl@amrl-Cyborg-15-A12VF:~/ros2_ws$ ros2 launch motion_capture_tracking launch.py
[INFO] [launch]: All log files can be found below /home/amrl/.ros/log/2024-04-01-22-42-26-934591-amrl-Cyborg-15-A12VF-256643
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [256644]
[INFO] [rviz2-2]: process started with pid [256646]
[motion_capture_tracking_node-1] logClouds=0
[rviz2-2] [INFO] [1711978947.200155374] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1711978947.200256320] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1711978947.212576021] [rviz2]: Stereo is NOT SUPPORTED
[motion_capture_tracking_node-1] terminate called after throwing an instance of 'std::runtime_error'
[motion_capture_tracking_node-1] what(): NatNetSDK Error 3
[ERROR] [motion_capture_tracking_node-1]: process has died [pid 256644, exit code -6, cmd '/home/amrl/ros2_ws/install/motion_capture_tracking/lib/motion_capture_tracking/motion_capture_tracking_node --ros-args -r __node:=motion_capture_tracking --params-file /home/amrl/ros2_ws/install/motion_capture_tracking/share/motion_capture_tracking/config/cfg.yaml'].

This is my error node.

These are my crazyflies.yaml, motion capture, and cfg.yaml files.

I am currently using two PCs, one using Motive and the other using ROS2. NatnetSDK is used on Motive PC, and I don't know what the problem is.
Screencast from 04-01-2024 10_39_19 PM.webm

thank you

[WoodyloveBo]

I think it was an error node that occurred because the Robot ID was specified as Cf231 in crazyflie.yaml. If you change it, the following error appears repeatedly.

[crazyflie_server-4] [WARN] [1712025694.876415937] [crazyflie_server]: [cf3] Low unicast receive rate (0.00 < 0.90). Sent: 1337. Received: 0
Screencast from 04-02-2024 11:35:42 AM.webm

[chengji253]

[crazyflie_server-4] [WARN] [1712025694.876415937] [crazyflie_server]: [cf3] Low unicast receive rate (0.00 < 0.90). Sent: 1337. Received: 0

I also encountered the same problem, has the answer been solved?

[whoenig]

This last message is a warning not an error. It can be solved by updating to a new firmware (build yourself from the master branch).