mocap marker configuration: how to use rigid_body_name defined in the Vicon software as marker in put in the config.yaml file

[GuiliangZ]

Hi,

I am trying to integrate the crazyswarm2 with my Vicon system as a motion capture system. I read from the official guide that we have to define the motion capture parameters in the "motion_capture.yaml" file. However, it seems that the way to define the rigid body is by defining the specific location of each marker with respect to the body frame of the drone. In my Vicon system, I defined a rigid body with a set of markers and gave a name to it, and I think the Vicon system will publish the position to this "rigid_body_name". I didn't find anywhere in the crazyswarm2 package that allows us to define a "rigid_body_name" and get Vicon positional data from that. I am wondering how to resolve this? Because it's hard for me to know the exact marker location wrt the body frame of the drone.

[knmcguire]

Hmmm.... I'm trying to dig through the code but I think that these are actually specific to the motion_capture_tracking package. Have you tried to look through the code there?

@whoenig could you perhaps explain a bit here? I initially thought that just streaming through the rigidbodies as defined in Vicon should be possible as well

[GuiliangZ]

Thank you for your answer, @whoenig, can you give me a more detailed answer regarding defining the rigid body name in the Vicon for crazyswarm2?

[whoenig]

The motion_capture_tracking package will publish the rigid bodies unchanged, use ros2 topic echo poses to double check. In order to use in Crazyswarm, set the motion_capture/enabled flag in the crazyflie_types (in crazyflies.yaml) to false (I know this is confusing and should be renamed; all this flag is doing is to decide if we use our custom tracker or the Vicon tracker).