VICON System Connection

[kevinaubertlomellini]

Hello,
I am trying to use the motion capture with VICON, this is what I am obtaining:

Mode changed to cmd_vel_world
No updated pose for cf231 for 1708656225.565715 s.
No updated pose for cf231 for 1708656225.570119 s.
[cf231] Requesting parameters...
No updated pose for cf231 for 1708656225.580103 s.
[cf231] Param TOC: 279 entries with CRC 51380503
[cf231] Param TOC: found cache.
No updated pose for cf231 for 1708656225.590063 s.
No updated pose for cf231 for 1708656225.600283 s.
[cf231] reqParamTOC: 0.026327 s (279 params)
[cf231] Update parameter "commander.enHighLevel" to 1
[cf231] Update parameter "locSrv.extPosStdDev" to 0.001000
[cf231] Update parameter "locSrv.extQuatStdDev" to 0.050000
[cf231] Update parameter "stabilizer.controller" to 2
[cf231] Update parameter "stabilizer.estimator" to 2
[cf231] Log TOC: 485 entries with CRC 3375487317
[cf231] Log TOC: found cache.
[cf231] Logging to /pose at 10 Hz
No updated pose for cf231 for 1708656225.610274 s.
[cf231] Logging to /status at 1 Hz
[cf231] Older firmware. status/num_rx_broadcast and status/num_rx_unicast are set to zero.
[cf231] Requesting memories...
No updated pose for cf231 for 1708656225.620330 s.
[cf231] Memories: 4
No updated pose for cf231 for 1708656225.630268 s.
.
.
.
(MORE No updated pose for cf231 for .. s. MESSAGES)
.
.
.
No updated pose for cf231 for 1708656226.530190 s.
No updated pose for cf231 for 1708656226.540315 s.
No updated pose for cf231 for 1708656226.550282 s.
[all] Motion capture rate off (#: 1, Avg: 100.4)
No updated pose for cf231 for 1708656226.560269 s.
No updated pose for cf231 for 1708656226.570210 s.
[cf231] last latency update: 1.004639 s
No updated pose for cf231 for 1708656226.580260 s.
No updated pose for cf231 for 1708656226.590141 s.
No updated pose for cf231 for 1708656226.600096 s.
No updated pose for cf231 for 1708656226.610086 s.
No updated pose for cf231 for 1708656226.620242 s.
Low unicast receive rate (0.00 < 0.90). Sent: 1643. Received: 0
No updated pose for cf231 for 1708656226.630190 s.
No updated pose for cf231 for 1708656226.640311 s.
No updated pose for cf231 for 1708656226.650137 s.

How can I solve this problem?

[Eric-Ewing]

What motion_capture mode are you using? Are you using motionCapture or libRigidBodyTracker? What is your marker setup on the crazyflie and is that also in motion_capture.yaml?

[kevinaubertlomellini]

I am using libRigidBodyTracker and the default marker setup with 4 markers on the crazyflie.

[whoenig]

Sounds like the IP/hostname are wrong. Try with https://github.com/IMRCLab/libmotioncapture and/or vicon_sdk directly and see if that works for you.

[kevinaubertlomellini]

libmotioncapture has the the next missing file so is not working: "libmotioncapture/testmocap.h".
However, I try with vicon-datastream-sdk and is working fine.

[whoenig]

Sorry about the libmotioncapture build failure. It looks like github deactivated the CI that should have caught this earlier. The CI and build error are fixed now. Please try the C++ version, i.e. ./motioncapture_example, after compiling and report back if that works for you.

[kevinaubertlomellini]

The libmotioncapture is working fine. What else could be the initial error on crazyswarm2?
Thanks

[whoenig]

Make sure that you don't define a rigid body in Tracker and that you see data on the /pointCloud topic.

[kevinaubertlomellini]

Tracker was defining the points as a rigid body. I change that and now is working well. Thanks

[vietanhle0101]

Guys, can you please teach me how to change defining the points as a rigid body to pointCloud in VICON tracker? I got the same issue. Currently, I can see data streaming in pointCloud topic. Does it seem correct?

[whoenig]

If you see data on pointCloud your settings are correct. Make sure that no rigid bodies are enabled in Tracker.

Also make sure that in crazyflies.yaml you have motion_capture enabled in the types part of the configuration file.

[vietanhle0101]

Hi, I am wondering how to make sure no rigid bodies are enabled in VICON Tracker. For now, we are using multiple VICON markers to define a drone. Does it cause a problem?