motioncapture error & coordinate error

[AlEXANDER9901]

Hi. I am having difficulty flying a single crazyflie. I have attached the necessary information below.

[1. 'ros2 launch crazyflie launch.py' and 'rviz2' ]
The attached images show the rviz2 screen and error messages when executing 'ros2 launch crazyflie launch.py' and 'rviz2.' Previously, I received a "motion capture did not receive data" message, but now I see a WARN "Motion capture rate off." What could be the cause of this message? and I have correctly configured the IP.

[2. Confirmation of 'ros2 topic echo /poses']
It seems that the pose of the crazyflie is being tracked correctly. I think the connection is fine, but it seems that the coordinate axes might be misaligned.

[3. Motive]
Despite aligning the crazyflie and world coordinates as shown in the pictures, they appear differently in rviz.

[4. yaml파일]
Below is my code configuration. Please advise if there are any mistakes.

1. crazyflie.yaml
   `# named list of all robots
   robots:
   cf10:
   enabled: true
   uri: radio://0/80/2M/E7E7E7E710
   initial_position: [0, 0, 0]
   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, -0.5, 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
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

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: 1 # 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`

2)motion_capture.yaml
`/motion_capture_tracking:
ros__parameters:
type: "optitrack"
hostname: "192.168.0.81"

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]

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:`

3. 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]
   communication:
   max_unicast_latency: 10.0 # ms
   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: true
   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
   cf10:
   calibration:
   tvec: [0,0,0]
   rvec: [1.2092,-1.2092,1.2092] # 0 deg tilt (cameras looks in front of crazyflie)
   cf5:
   calibration:
   tvec: [0,0,0]
   rvec: [ 0.61394313, -0.61394313, 1.48218982] # 45 deg tilt
   controller: pid # none, pid, mellinger`

I look forward to your response.

[whoenig]

1. Warning: Make sure to select 100 Hz as frequency in Motive (In the device/camera pane)
2. Axis alignment: This is expected/desired: Motive uses a different coordinate system than ROS. You should verify using RViz only, using the ROS coordinate system. (Note that in Motive the streaming properties need to be correct to select Z-axis up.)

[AlEXANDER9901]

Thank you for the prompt response.

1. I changed the frequency in Motive to 100 Hz, but the error remains the same.
2. The Z-axis is correctly configured in Motive. Is there a separate way to change the ROS coordinate system using only RViz? (Do I need to use the ROS tf2 library? I'm curious about the specific steps.)
3. Will the "motion capture rate off" error be resolved by correctly configuring only the coordinates?
   When I manually rotate the Crazyflie by 90 degrees, it appears that the world frame and cf10 frame align correctly in the rviz2 screen. Is this the correct approach? (The "motion capture rate off" error message remains unchanged.)

[whoenig]

1. Are you connected over Ethernet? Wifi can cause these fluctuations.
2. Nothing else needs to be changed. Since Motive uses a different coordinate system and there is no option in Motive 3.0 to change it, there will be always a difference between what Motive and what rviz shows.
3. The rate warning has nothing to do with the coordinate system. It's purely based on the network setup. If there is a large variance, it typically means that either you don't have a stable wired connection between the two computers, or that one of your computers is too slow/occupied with other work to handle the network packets in realtime.

[AlEXANDER9901]

Our Motive and desktop are connected to each other via Ethernet. Does that mean we don't have anything else to change? We would appreciate any advice you can provide.

[AlEXANDER9901]

I solve it. It was simple problem. Changing maker array is the reason. Thanks for your response