Motion capture did not receive data!

[xunCai84]

Hello, when I run the "ros2 launch crazyflie launch.py" in the tutorial, the following error occurs: Motion capture did not receive data! I read your previous answer, but the problem was not solved. The current motion_capture.yaml configuration does not have mode: "motionCapture" # one of motionCapture,libRigidBodyTracker by default. I don't know if this is normal. If it is normal, where might the problem be? I will attach the relevant configuration files and error reminders below. Thank you.

motion_capture.yaml

/motion_capture_tracking:
  ros__parameters:
    # one of "optitrack", "optitrack_closed_source", "vicon", "qualisys", "nokov", "vrpn", "motionanalysis"
    type: "qualisys"
    # Specify the hostname or IP of the computer running the motion capture software
    hostname: "192.168.254.26"

    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:

crazyflies.yaml

# named list of all robots
robots:
  cf231:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E701
    initial_position: [0.055, 0.013, 0.027]
    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, -0.5, 0.0]
    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_single_marker
      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

ros2 launch crazyflie launch.py

ros2 launch crazyflie launch.py
[INFO] [launch]: All log files can be found below /home/uav/.ros/log/2024-10-19-11-33-11-814930-uav-Nitro-AN515-58-11168
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [11169]
[INFO] [crazyflie_server-2]: process started with pid [11171]
[INFO] [teleop-3]: process started with pid [11173]
[INFO] [joy_node-4]: process started with pid [11175]
[INFO] [gui.py-5]: process started with pid [11177]
[motion_capture_tracking_node-1] logClouds=0
[teleop-3] [ERROR] [1729308791.915400618] [teleop]: Unknown mode none
[crazyflie_server-2] [INFO] [1729308792.256236044] [crazyflie_server]: [cf231] Requesting parameters...
[crazyflie_server-2] [INFO] [1729308792.261506865] [crazyflie_server]: [cf231] Param TOC: 310 entries with CRC 925892918
[crazyflie_server-2] [INFO] [1729308792.261555282] [crazyflie_server]: [cf231] Param TOC: found cache.
[crazyflie_server-2] [INFO] [1729308792.267472601] [crazyflie_server]: [cf231] reqParamTOC: 0.013610 s (310 params)
[crazyflie_server-2] [INFO] [1729308792.267509967] [crazyflie_server]: [cf231] Update parameter "commander.enHighLevel" to 1
[crazyflie_server-2] [INFO] [1729308792.267519876] [crazyflie_server]: [cf231] Update parameter "locSrv.extPosStdDev" to 0.001000
[crazyflie_server-2] [INFO] [1729308792.267525349] [crazyflie_server]: [cf231] Update parameter "locSrv.extQuatStdDev" to 0.050000
[crazyflie_server-2] [INFO] [1729308792.267529655] [crazyflie_server]: [cf231] Update parameter "stabilizer.controller" to 2
[crazyflie_server-2] [INFO] [1729308792.267533693] [crazyflie_server]: [cf231] Update parameter "stabilizer.estimator" to 2
[crazyflie_server-2] [INFO] [1729308792.273569335] [crazyflie_server]: [cf231] Log TOC: 525 entries with CRC 3880012195
[crazyflie_server-2] [INFO] [1729308792.273600569] [crazyflie_server]: [cf231] Log TOC: found cache.
[crazyflie_server-2] [INFO] [1729308792.273727030] [crazyflie_server]: [cf231] Logging to /pose at 10 Hz
[crazyflie_server-2] [INFO] [1729308792.278965430] [crazyflie_server]: [cf231] Logging to /status at 1 Hz
[crazyflie_server-2] [INFO] [1729308792.285067796] [crazyflie_server]: [cf231] Requesting memories...
[crazyflie_server-2] [INFO] [1729308792.287851318] [crazyflie_server]: [cf231] Memories: 4
[crazyflie_server-2] [WARN] [1729308793.248974156] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308793.253980775] [crazyflie_server]: [cf231] last latency update: 1.001970 s
[crazyflie_server-2] [WARN] [1729308793.282985572] [crazyflie_server]: [cf231] Unexpected number of unicast packets. Sent: 1667. Received: 53258
[crazyflie_server-2] [WARN] [1729308793.283018766] [crazyflie_server]: [cf231] Unexpected number of broadcast packets. Sent: 0. Received: 3988
[crazyflie_server-2] [WARN] [1729308794.248884750] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308795.248850588] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308796.248776321] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308797.248691594] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308798.248571131] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308799.248501394] [crazyflie_server]: [all] Motion capture rate off (#: 8, Avg: 51.6, Min: 47.3, Max: 61.7)
[crazyflie_server-2] [WARN] [1729308800.248457714] [crazyflie_server]: [all] Motion capture rate off (#: 49, Avg: 50.2, Min: 40.2, Max: 58.7)
[crazyflie_server-2] [WARN] [1729308801.248378576] [crazyflie_server]: [all] Motion capture rate off (#: 49, Avg: 50.2, Min: 42.6, Max: 56.7)
[crazyflie_server-2] [WARN] [1729308802.248279886] [crazyflie_server]: [all] Motion capture rate off (#: 26, Avg: 50.0, Min: 46.8, Max: 52.1)
[crazyflie_server-2] [WARN] [1729308803.248260790] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308804.248176788] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308805.248116494] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308806.248060116] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308807.247982449] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308808.247906374] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308809.247755696] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308810.247666497] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308811.247628059] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308812.247558940] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308813.247449686] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308814.247447984] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308815.247315666] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308816.247286476] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308817.247222163] [crazyflie_server]: [all] Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1729308818.247165688] [crazyflie_server]: [all] Motion capture did not receive data!

[knmcguire]

Sorry for the late reply! But what setup are you using yourself? Are you using a Qualisys motion capture system?

Perhaps a good way is to maybe try out the motion capture tracking package directly for debugging: https://github.com/IMRCLab/motion_capture_tracking

Or go one step lower and try some hello world examples on libmotioncapture. This way you'll at least know if your computer is able to receive the rigid bodies at least.

[xunCai84]

Thank you for your answer. We have successfully let the small plane take off, although we still don't know the cause of the previous problem. I will come back to add more if the cause is figured out later.