VRPN motioncapture CANNOT receive pose Data

[ClockZinc]

My team is using the vrpn as motion_capture.
I can receive vrpn data by libmotioncapture

zjx@zjx-NH50-70RA:~/libmotioncapture$ python3 examples/python.py vrpn 192.168.0.2
tracker: cf1
cf1 [0.07331698 0.24308781 0.02825518] -0.45479103922843933
cf1 [0.07358492 0.24309334 0.02807285] -0.4525420665740967
cf1 [0.0734635  0.2429798  0.02799479] -0.45270150899887085

but When it turns to crazyswarm2
crazyflies.yaml

# named list of all robots
robots:
  cf1:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E701
    initial_position: [0.0, 0.0, 0.0]
    type: cf21  # see robot_types
robot_types:
  cf21:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: default_single_marker
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
# global settings for all robotsts
all:
  firmware_logging:
    enabled: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # Hz
      status:
        frequency: 1 # Hz
  firmware_params:
    commander:
      enHighLevel: 1
    stabilizer:
      estimator: 2 # 1: complementary, 2: kalman
      controller: 2 # 1: PID, 2: mellinger
    locSrv:
      extPosStdDev: 1e-3
      extQuatStdDev: 0.5e-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:
    # one of "optitrack", "optitrack_closed_source", "vicon", "qualisys", "nokov", "vrpn", "motionanalysis"
    type: "vrpn"
    # Specify the hostname or IP of the computer running the motion capture software
    hostname: "192.168.0.2"

    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:

It failed in launch.py

ros2 launch crazyflie launch.py
ros2 launch crazyflie launch.py
[INFO] [launch]: All log files can be found below /home/zjx/.ros/log/2024-06-28-15-59-16-835604-zjx-NH50-70RA-8357
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [8358]
[INFO] [teleop-2]: process started with pid [8360]
[INFO] [joy_node-3]: process started with pid [8362]
[INFO] [crazyflie_server-4]: process started with pid [8364]
[INFO] [gui.py-5]: process started with pid [8366]
[teleop-2] [ERROR] [1719561557.018842228] [teleop]: Unknown mode none
[motion_capture_tracking_node-1] logClouds=0
[motion_capture_tracking_node-1] [WARN] [1719561557.044593096] [motion_capture_tracking]: No updated pose for cf1 for 1719561557.044496 s.
[motion_capture_tracking_node-1] [WARN] [1719561557.045204774] [motion_capture_tracking]: No updated pose for cf1 for 1719561557.045192 s.
[motion_capture_tracking_node-1] tracker: cf1
[motion_capture_tracking_node-1] [WARN] [1719561557.055278027] [motion_capture_tracking]: No updated pose for cf1 for 1719561557.055248 s.
[motion_capture_tracking_node-1] [WARN] [1719561557.055543885] [motion_capture_tracking]: No updated pose for cf1 for 1719561557.055537 s.
[motion_capture_tracking_node-1] [WARN] [1719561557.065632145] [motion_capture_tracking]: No updated pose for cf1 for 1719561557.065602 s.

[whoenig]

In crazyflies.yaml, use

robot_types:
  cf21:
    motion_capture:
      enabled: false

(The name is misleading; this should be named use_librigidbodytracker or similar instead.)

[ClockZinc]

Thank you for your Reply. I will try it tomorrow!!! So in vrpn mode I should let "enabled: false"? So If I want to use the motion_capture I shouldn't enable it ?

I mean that I hope to achieve the localization of drones through a motion capture system, and then control the drones in realworld accordingly. However, although I can receive the position information of the drone using the ‘libmotioncapture’ command
‘’‘
libmotioncapture$ python3 examples/python.py vrpn 192.168.0.2,
’‘’
I continuously receive warnings
‘’‘
No updated pose for cf1 for 1719561557.044496 s
‘’‘
after launching ’ros2 launch crazyflie launch.py‘. Additionally, rqt also does not receive the "/poses" topic information.

Nevertheless, in actual operation, the Crazyradio PA continuously shows a green LED light after launch and can control the motors of the drone. The drone can spin its motors under hello_world.py (but immediately rolls and crashes).

To address these issues, I have the question:

1. Can I customize a "/poses" topic and publish it by forwarding information from libmotioncapture? In my attempts, I replaced "/poses" and published "/my_poses" with the same data type. I also modified the subscription of the crazyswarm_server node to "/my_poses." In this scenario, the drone flies erratically.

In addition, today I successfully controlled the drones using crazyswarm (ROS1 version). After launching "roslaunch crazyswarm hover_swarm.launch," I encountered the same warnings, but the drone's position was continuously updated in rviz. The drones were able to take off normally, but occasional failures occurred where the drone would roll immediately after receiving control signals. Therefore, the issues I faced with crazyswarm2 might be similar. I will continue troubleshooting tomorrow. Thank you for your assistance.

[whoenig]

You can not run the motion_capture_tracking node and start your own node that publishes on /poses instead. Nevertheless, I still recommend just changing the setting outlined above instead.