No updated pose & LIBUSB_ERROR_TIMEOUT

[jackp24]

Hello,

I am using the Crazyswarm 2 system in a Vicon motion capture studio. Currently, I am trying to get one Crazyflie 2.1 drone flying with the example hello_world script.

However, when I run the launch file using "ros2 launch crazyflie launch.py backend:=cpp", the line:

[motion_capture_tracking_node-1] [WARN] [1698094332.726471060] [motion_capture_tracking]: No updated pose for cf5 for 1698094332.726410 s.

repeats itself every 0.01 seconds. And eventually,

[crazyflie_server-4] terminate called after throwing an instance of 'std::runtime_error'
[crazyflie_server-4]   what():  LIBUSB_ERROR_TIMEOUT
...
[ERROR] [crazyflie_server-4]: process has died [pid 23200, exit code -6, cmd '/home/jack/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server --ros-args -r __node:=crazyflie_server --params-file /tmp/launch_params_9p51_3qi --params-file /tmp/launch_params_lfs2kj1u'].

My understanding is that the "No updated pose" means that the crazyswarm system is not receiving the motion capture data? But, the Vicon display, the pose topic, and rviz display the correct position of the Craziefly drone.

How can I fix this issue/error?

The following is the output when running the launch file, and the config files I am using. The "..." symbolizes several "no updated pose" messages that were removed for readability.

Output after running launch file

ros2 launch crazyflie launch.py backend:=cpp
[INFO] [launch]: All log files can be found below /home/---
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [motion_capture_tracking_node-1]: process started with pid [23194]
[INFO] [teleop-2]: process started with pid [23196]
[INFO] [joy_node-3]: process started with pid [23198]
[INFO] [crazyflie_server-4]: process started with pid [23200]
[INFO] [rviz2-5]: process started with pid [23202]
[motion_capture_tracking_node-1] [WARN] [1698094332.694954145] [motion_capture_tracking]: No updated pose for cf5 for 1698094332.694859 s.
[teleop-2] [INFO] [1698094332.701439548] [teleop]: Mode changed to cmd_vel_world
[motion_capture_tracking_node-1] [WARN] [1698094332.705048928] [motion_capture_tracking]: No updated pose for cf5 for 1698094332.704996 s.
[rviz2-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[motion_capture_tracking_node-1] [WARN] [1698094332.714850641] [motion_capture_tracking]: No updated pose for cf5 for 1698094332.714794 s.
[motion_capture_tracking_node-1] [WARN] [1698094332.726471060] [motion_capture_tracking]: No updated pose for cf5 for 1698094332.726410 s.
[crazyflie_server-4] [INFO] [1698094332.800293391] [cf5]: Requesting parameters...
[crazyflie_server-4] [INFO] [1698094332.805739036] [cf5]: Param TOC: 279 entries with CRC 51380503
[crazyflie_server-4] [INFO] [1698094332.805802088] [cf5]: Param TOC: found cache.
[crazyflie_server-4] [INFO] [1698094332.864398789] [cf5]: reqParamTOC: 0.140533 s (279 params)
[crazyflie_server-4] [INFO] [1698094332.864520739] [cf5]: Update parameter "commander.enHighLevel" to 1
[crazyflie_server-4] [INFO] [1698094332.864596159] [cf5]: Update parameter "locSrv.extPosStdDev" to 0.001000
[crazyflie_server-4] [INFO] [1698094332.864652085] [cf5]: Update parameter "locSrv.extQuatStdDev" to 0.050000
[crazyflie_server-4] [INFO] [1698094332.864695823] [cf5]: Update parameter "ring.effect" to 16
[crazyflie_server-4] [INFO] [1698094332.864739354] [cf5]: Update parameter "stabilizer.controller" to 2
[crazyflie_server-4] [INFO] [1698094332.864788862] [cf5]: Update parameter "stabilizer.estimator" to 2
[crazyflie_server-4] [INFO] [1698094332.864886925] [cf5]: Requesting memories...
[crazyflie_server-4] [INFO] [1698094332.873520064] [cf5]: Memories: 4
[crazyflie_server-4] [INFO] [1698094332.890472197] [all]: radiobroadcast://*/48/2M
...
[rviz2-5] [INFO] [1698094333.051155427] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1698094333.051336315] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-5] [INFO] [1698094333.069956070] [rviz2]: Stereo is NOT SUPPORTED
...
[crazyflie_server-4] [WARN] [1698094333.896103824] [all]: Motion capture rate off (#: 1, Avg: 100.918282)
...
[crazyflie_server-4] terminate called after throwing an instance of 'std::runtime_error'
[crazyflie_server-4]   what():  LIBUSB_ERROR_TIMEOUT
...
[ERROR] [crazyflie_server-4]: process has died [pid 23200, exit code -6, cmd '/home/jack/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server --ros-args -r __node:=crazyflie_server --params-file /tmp/launch_params_9p51_3qi --params-file /tmp/launch_params_lfs2kj1u'].
...

crazyflies.yaml

# named list of all robots
robots:
  cf1:
    enabled: false
    uri: radio://0/46/2M/E7E7E7E701
    initial_position: [0, 0, 0]
    type: cfDeck1  # see robot_types
    #type: default_single_marker
    # 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"]
  cf2:
    enabled: false
    uri: radio://0/46/2M/E7E7E7E702
    initial_position: [0, 1, 0]
    type: cfDeck2
    #type: default_single_marker
  cf3:
    enabled: false
    uri: radio://0/44/2M/E7E7E7E703
    initial_position: [0, 0, 0]
    type: cfDeck3
  cf4:
    enabled: false
    uri: radio://0/52/2M/E7E7E7E704
    initial_position: [0, 0, 0]
    type: cfDeck4
  cf5:
    enabled: true
    uri: radio://0/48/2M/E7E7E7E705
    initial_position: [0, 0, 0]
    type: cfDeck5
  cf6:
    enabled: false
    uri: radio://0/50/2M/E7E7E7E706
    initial_position: [0, 0, 0]
    type: cfDeck6
# Definition of the various robot types
robot_types:
  cfSingle:
    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"]

  cfDeck1:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck1
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
  cfDeck2:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck2
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
  cfDeck3:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck3
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
  cfDeck4:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck4
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
  cfDeck5:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck5
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
  cfDeck6:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck6
      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:
      state:
        frequency: 10 # Hz
        vars: ["stateEstimate.x", "stateEstimate.y", "stateEstimate.z"]
      accel:
        frequency: 10
        vars: ["stateEstimateZ.ax", "stateEstimateZ.ay", "stateEstimateZ.az"]
        #vars: ["acc.x", "acc.y", "acc.z"]
      misc:
        frequency: 10 # Hz
        vars: ["activeMarker.btSns", "activeMarker.i2cOk"]
      gonogo:
        frequency: 10
        vars: ["sys.canfly", "sys.isFlying", "sys.isTumbled"]
        # nonzero is true
      
  # 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

motion_capture.yaml

/motion_capture_tracking:
  ros__parameters:
    type: "vicon"
    hostname: "192.168.1.100:801"

    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, 0.0, -0.01]
        points:
          p0: [0.0,0.0,0.01]
      mocap_deck1:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.013, -0.013, 0.0]
          p1: [-0.013, -0.013, 0.0]
          p2: [-0.03, 0.0, 0.0]
          p3: [0.0, 0.03, 0.0]
      mocap_deck2:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.0, -0.03, 0.0]
          p1: [-0.03, 0.0, 0.0]
          p2: [0.013, 0.013, 0.0]
          p1: [-0.005, 0.0, 0.0]
      mocap_deck3:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [-0.004, -0.0195, 0.016]
          p1: [0.055, -0.055, 0.002]
          p2: [-0.0565, 0.059, 0.002]
          p3: [0.058, 0.0534, 0.008]
      mocap_deck4:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.03, 0.0, 0.0]
          p1: [0.0, -0.03, 0.0]
          p2: [0.01, 0.0, 0.0]
          p3: [-0.01, 0.0, 0.0]
      mocap_deck5:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.0242, 0.0, 0.005]
          p1: [-0.03, 0.0, 0.0031]
          p2: [-0.060, 0.059, 0.002]
          p3: [-0.058, -0.060, 0.002]
      mocap_deck6:
        offset: [0.0, 0.0, -0.01]
        points:
          p0: [0.013, -0.013, 0.0]
          p1: [0.0, -0.03, 0.0]
          p2: [-0.02, 0.0, 0.0]
          p3: [0.0, 0.02, 0.0]
          
    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:

server.yaml

/crazyflie_server:
  ros__parameters:
    warnings:
      frequency: 1.0 # report/run checks once per second
      motion_capture:
        warning_if_rate_outside: [80.0, 120.0]
    firmware_params:
      query_all_values_on_connect: False
    # simulation related
    sim:
      max_dt: 0 #0.1              # artificially limit the step() function (set to 0 to disable)
      backend: np                 # see backend folder for a list 
      visualizations:             # see visualization folder for a list
        rviz:
          enabled: false
        pdf:
          enabled: false
          output_file: "result.pdf"
        record_states:
          enabled: false
          output_dir: "state_info"
          logging_time: 0.2  # how many seconds to leave between logs
          file_formats: ["csv", "np"] # csv, np
        blender:
          enabled: false
          fps: 1           # frames per second
          cycle_bg: false  # if true, pictures will cycle through different environemt background images (useful for synthetic image generation). Otherwise a single environment background image will be used
          cf_cameras:      # names of crazyflies with cameras on them if enabled in `crazyflies.yaml`
            cf1:
              calibration:
                tvec: [0,0,0]
                rvec: [1.2092,-1.2092,1.2092]   # 0 deg tilt (cameras looks in front of crazyflie)
            cf2:
              calibration:
                tvec: [0,0,0]
                rvec: [ 0.61394313, -0.61394313,  1.48218982]   # 45 deg tilt
      controller: mellinger # none, pid, mellinger

[whoenig]

• NoUpdatedPose: If I understand your configuration correctly, you are using unique marker configurations for each CF and let VICON Tracker do the full pose tracking? It's possible that there is a regression in motion_capture_tracking's new error checking, since we have not tested this mode. If you get data in /pose, you can ignore the error for now.
• LIBUSB_ERROR_TIMEOUT: Are you using Crazyradio2 rather than Crazyradio PA? If so, you'll need to install a beta firmware on it: https://github.com/bitcraze/crazyflie-link-cpp/files/12429056/crazyradio2-CRPA-emulation.zip.

[whoenig]

For NoUpdatedPose (if my above assumption is correct), try

cfDeck5:
    motion_capture:
      enabled: false

(The naming of enabled here is very misleading, this should essentially enable librigidbodytracker, not the motion_capture itself.)

[jackp24]

Thank you for the quick response!

You are correct about my configuration. I am using a unique marker configuration on each CF and utilizing Vicon to track the full pose. I will try your suggested fix and let you know if it works.

Also, I am using Crazyradio2, and I have the beta firmware installed. I was able to successfully connect to the CF drones using Bitcraze's Crazyflie Client.

[knmcguire]

Just some background info here, the crazyflie client software does not make use of the broadcasting that is used in crazyswarm2. So that it works for the cfclient will only hold fully in case you use the cfilb backend of crazyswarm2. The CPP backend has more functionalities that are only supported with the beta firmware of the crazyradio2 firmware, which is not used by the cfclient

[SeaingAnt]

Hi, I have the same problem. Did you find a solution?

[knmcguire]

someone on our forum mentioned that updating the crazyradio2 to the latest release candidate worked https://github.com/orgs/bitcraze/discussions/1002. Maybe give it a try?

[SeaingAnt]

thanks, do you have any suggestion for the warning on the mocap system?

[whoenig]

Does #322 (reply in thread) not work?

[SeaingAnt]

yes, thank you. The mocap system warning disappeared.