Use single marker for crazyflies and mocap deck for non-crazyflie object?

[xiaoshan-lin]

Hi, we use single marker for crazyflies and mocap deck for non-crazyflie object. But the orientations of non-crazyflie objects are .nan after we launch crazyswarm. Is it possible to use single marker for crazyflies and mocap deck for other objects?

ros2 topic echo /poses:
poses:
- name: cf03
  pose:
    position:
      x: 3.2896833419799805
      y: 1.4049962759017944
      z: 0.3816990256309509
    orientation:
      x: .nan
      y: .nan
      z: .nan
      w: .nan
- name: cf07
  pose:
    position:
      x: 1.0137747526168823
      y: 3.3831534385681152
      z: 0.4056171178817749
    orientation:
      x: .nan
      y: .nan
      z: .nan
      w: .nan
- name: cf09
  pose:
    position:
      x: 3.2203187942504883
      y: 1.4995253086090088
      z: 0.419988214969635
    orientation:
      x: .nan
      y: .nan
      z: .nan
      w: .nan
- name: turtlebot1
  pose:
    position:
      x: 3.3962509632110596
      y: 1.3937816619873047
      z: 0.7636182308197021
    orientation:
      x: .nan
      y: .nan
      z: .nan
      w: .nan
- name: turtlebot2
  pose:
    position:
      x: 1.0839219093322754
      y: 3.284982442855835
      z: 0.7949721813201904
    orientation:
      x: .nan
      y: .nan
      z: .nan
      w: .nan

[whoenig]

Currently, librigidbodytracker doesn't allow "mixed" objects (i.e., one can only use single-marker mode OR full-pose mode). However, if you can track your rigid bodies where you need the pose directly with the vendor's software and the robots where you need position only, it should be possible to capture your use-case.

[abyvinodm]

Thank you. We ended up switching to single-marker mode for the ground robots as well. We placed two markers and defined "front" and "back" of the ground robot, and did some minor computations to recover the yaw.