[motion_capture_tracking_node-1] [WARN] [motion_capture_tracking]: No updated pose for cf_01

[vietanhle0101]

We got that warning when execute ros2 launch crazyflie launch.py where VICON is used for localization. Checking ros2 topic echo /pointCloud and ros2 topic echo /poses can show data streaming. Any kinds of helps are highly appriciated.

Below is what currently in motion_capture.yaml

/motion_capture_tracking:
  ros__parameters:
    type: "vicon"
    hostname: "192.168.1.2"

    mode: "motionCapture" # one of motionCapture,libRigidBodyTracker

    topics:
      poses:
        qos:
          mode: "sensor"
          deadline: 50.0 # 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:

[whoenig]

How do /poses and crazyflies.yaml look like?

[vietanhle0101]

I attached some screenshots when we do ros2 topic cho

[TMSTweaks]

Here is our crazyflies.yaml file:

# named list of all robots
robots:
  cf_01:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E7E5
    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"]
  cf_02:
    enabled: false
    uri: radio://0/80/2M/E7E7E7E7E5
    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"]
  
# 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: true
      # 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: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # Hz
      status:
        frequency: 1 # 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

[whoenig]

And what is the exact issue? Do you get the warning once or multiple times? If multiple times, what does ros2 topic hz poses show?

[TMSTweaks]

We get the warning printed out multiple times. The poses topic is shown above, in the second screenshot Viet posted. It seems poses is getting location data for the crazyflie but the pointCloud topic does not have anything in the 'data' section. data: []

[whoenig]

The important topic is the poses topic. The pointCloud topic can be empty, if you use the vendor's software for tracking your robots. What does ros2 topic hz poses show?

[TMSTweaks]

	min: 0.005s max: 0.014s std dev: 0.00104s window: 302
average rate: 99.982
	min: 0.005s max: 0.014s std dev: 0.00104s window: 403

This is the frequency of the /poses topic which is consistent with what we set in Vicon Tracker (100 Hz). Sorry for the delay, we were unable to test on the weekend.

[whoenig]

It seems to me like you track with VICON Tracker. If so, use

robot_types:
  cf21:
    motion_capture:
      enabled: false

The enabled flag is misleading here, it should actually be something like use_librigidbodytracker.

[TMSTweaks]

We've tried this fix and now we get a new warning (not sure if this causes crashing issues or not).

We get:
[crazyflie_server-4] [WARN] [1712766520.305590500] [crazyflie_server]: Low unicast receive rate (0.00 < 0.90). Sent: 1255. Received: 0

I am assuming this means that we still aren't receiving data since the Received field shows 0? We get this warning multiple times. And our single drone still will not hover.

Here is our crazyflies.yaml file as well as our motion_capture.yaml file:

crazyflies.yaml:

robots:
  cf_01:
    enabled: false
    uri: radio://0/80/2M/E7E7E7E7E5
    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"]
  cf_02:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E7E7
    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"]
  
# Definition of the various robot types
robot_types:
  cf21:
    motion_capture:
      enabled: false
      use_librigidbodytracker: 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: true
      # 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: true
    default_topics:
     # remove to disable default topic
      pose:
        frequency: 10 # Hz
      status:
        frequency: 1 # 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

motion_capture.yaml:

  ros__parameters:
    type: "vicon"
    hostname: "192.168.1.2"

    mode: "libRigidBodyTracker" # 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:

Thank you so much for your help.

[TMSTweaks]

I have also read previous discussions where people recommend using a single marker with VICON. Is this something worth trying if we intend to run multiple crazyflies simultaneously with cars which have multiple markers themselves?

[whoenig]

The warning most likely means you are running an older firmware which does not provide the information for the rx count.

The single markers are more robust if your mocap is very noisy (e.g., has many spurious markers). Otherwise there shouldn't be much difference between 1 or 4 markers.