Crazyflie disappear on the rviz

[T-chen-712]

When I use "ros2 launch crazyflie launch.py", in the rviz Visualization will show my crazyflie just a few second and then disapear. It shows that :

[cf231] Low unicast receive rate (0.85 < 0.90). Sent: 911. Received: 774
[cf231] ESTKALMAN: State out of bounds, resetting
[cf231] Low unicast receive rate (0.87 < 0.90). Sent: 1276. Received: 1114
[cf231] High latency: 105.0 ms
[cf231] Low unicast receive rate (0.83 < 0.90). Sent: 924. Received: 771
[cf231] takeoff(height=1.000000 m, duration=2.500000 s, group_mask=0)
[cf231] Low unicast receive rate (0.86 < 0.90). Sent: 1036. Received: 889
[cf231] Low unicast receive rate (0.89 < 0.90). Sent: 1171. Received: 1039
[cf231] High latency: 46.0 ms
[cf231] Low unicast receive rate (0.82 < 0.90). Sent: 781. Received: 641
[cf231] Low unicast receive rate (0.88 < 0.90). Sent: 1204. Received: 1054
[cf231] Low unicast receive rate (0.82 < 0.90). Sent: 733. Received: 602
[cf231] land(height=0.040000 m, duration=2.500000 s, group_mask=0)
[cf231] Low unicast receive rate (0.85 < 0.90). Sent: 955. Received: 810
[cf231] Low unicast receive rate (0.88 < 0.90). Sent: 1354. Received: 1197

then I run "ros2 run crazyflie_examples hello_world" it always show "Warning: No joystick found!"

[T-chen-712]

I also find another problem is the data from optitrack seem to be wrong. From the computer,which have motive on that, the marker seem has the right data. But from the computer which has ros2 and crazyswarm2, the data seem to be wrong, which is show in the pic

[whoenig]

Make sure you use the "z-axis up" in the streaming setting of Motive.