Motion capture did not receive data!

[fbenti]

I cant't successfully launch crazyswarm and track with optitrack.

Here's my config files:

• motin_capture.yaml

/motion_capture_tracking:
  ros__parameters:
    type: "optitrack"
    # hostname: "169.254.250.11"
    hostname: "192.168.1.130"

    # mode: "libobjecttracker" # one of motionCapture,libRigidBodyTracker
    # mode: "libR1igidBodyTracker" # one of motionCapture,libRigidBodyTracker
    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]
      custom1:
        offset: [0.0, 0.0, -0.04]
        points:
          p0: [-0.034166, 8.161, 2.361]
          p1: [0.002376, -0.000792, 0.046405]
          p2: [0.033, -0.001288, 0.005244]
          p3: [-0.0013, -0.006, 0.0038]

    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:
  cf1:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E70A
    initial_position: [0, 0, 0]
    type: cf11  # 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_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: false
      # 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
    #firmware_logging:
    #   enabled: true
    #   default_topics:
    #   pose:
    #     frequency: 1 # Hz
    #   custom_topics:
    #    topic_name3: 
    #      frequency: 1
    #      vars: ["acc.x", "acc.y", "acc.z"]

  cf11:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: custom1
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V

# 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: false
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # 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

Where I've defined a custom marker configuration custom1 which is used by cf1. However, when I run ros2 launch crazyflie launch.py this is what I get to terminal:

[INFO] [launch]: All log files can be found below /home/aut/.ros/log/2023-09-06-15-18-36-407728-aut-110872
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [110873]
[INFO] [crazyflie_server-2]: process started with pid [110875]
[INFO] [rviz2-3]: process started with pid [110877]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[crazyflie_server-2] [INFO] [1694006316.651714941] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.654201422] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.656473308] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.658045578] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.659682790] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.661992239] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.663638899] [cf1]: ESTKALMAN: State out of bounds, resetting
[crazyflie_server-2] [INFO] [1694006316.664444885] [cf1]: Requesting parameters...
[crazyflie_server-2] [INFO] [1694006316.670669360] [cf1]: Param TOC: 278 entries with CRC 3685482774
[crazyflie_server-2] [INFO] [1694006316.670725829] [cf1]: Param TOC: found cache.
[crazyflie_server-2] [INFO] [1694006316.678435382] [cf1]: reqParamTOC: 0.037586 s (278 params)
[crazyflie_server-2] [INFO] [1694006316.678540754] [cf1]: Update parameter "commander.enHighLevel" to 1
[crazyflie_server-2] [INFO] [1694006316.678588122] [cf1]: Update parameter "locSrv.extPosStdDev" to 0.001000
[crazyflie_server-2] [INFO] [1694006316.678626739] [cf1]: Update parameter "locSrv.extQuatStdDev" to 0.050000
[crazyflie_server-2] [INFO] [1694006316.678662104] [cf1]: Update parameter "stabilizer.controller" to 2
[crazyflie_server-2] [INFO] [1694006316.678707965] [cf1]: Update parameter "stabilizer.estimator" to 2
[crazyflie_server-2] [INFO] [1694006316.678748318] [cf1]: Requesting memories...
[crazyflie_server-2] [INFO] [1694006316.685213245] [cf1]: Memories: 4
[crazyflie_server-2] [INFO] [1694006316.700094146] [all]: radiobroadcast://*/80/2M
[rviz2-3] [INFO] [1694006316.898163513] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1694006316.898283271] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1694006316.913504033] [rviz2]: Stereo is NOT SUPPORTED
[crazyflie_server-2] [WARN] [1694006317.702892528] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006318.702834451] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006319.702830022] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006320.702879948] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006321.702818305] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006322.702917879] [all]: Motion capture did not receive data!
[crazyflie_server-2] [WARN] [1694006323.702830271] [all]: Motion capture did not receive data!

while instead the crazyflie is correctly tracked if I check the optitrack software

[whoenig]

The mode needs to be libRigidBodyTracker in your case.

[fbenti]

Thanks for the reply! But, how come is that? When one has to be used and when the other?
According to https://crazyswarm.readthedocs.io/en/latest/configuration.html. it seems that motionCapture has to be used when there is an unique marker arrangement for every crazyflie, while libRigidBodyTracker when every crazyflie is identified by only one marker.

[whoenig]

Whenever you create objects/assets in your motion capture software, you use motionCapture, in all other cases libRigidBodyTracker. Most motion capture software packages have trouble with tracking small objects, causing axis flips. libRigidBodyTracker has a very simple first-order dynamics filter that prevents such tracking mistakes.

[knmcguire]

Transferring this to discussion as it is an support question.