Optitrack MoCap Setup #506
Replies: 4 comments
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The video is not accessible. Also from the description I am not sure: Are you defining an asset in motive or not? |
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Sorry. The video should be accessible now. https://drive.google.com/file/d/1PbOWivoL7mvW7Wwj3BT1K6vi4E1283Kq/view?usp=drive_link Yes, I define an asset in Motive named 'true_cf1,' as shown in the attached video. I tried disabling the asset too, following the Crazyswarm documentation's recommendation, but disabling all assets even with unlabelled markers enabled in Motive results in the point cloud disappearing altogether in rviz. I should mentioned that true_cf1 is perfect without any axis flipping or jittering in both Motive and rviz so marker placement is unlikely to be an issue. |
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In Motive, rename the asset to "cf1" and in your config file change
to
(The naming is misleading. |
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I renamed the asset to cf1 and disabled the motion_capture flag as you recommended. Now, I launch motion_capture_tracking separately, and the tracking is perfect. Thanks for your help! |
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Hello!
I'm currently facing issues with integrating Optitrack Mocap into Crazyswarm2. While my markers are uniquely distinguishable in the Motive software and I’ve exported their coordinates to set up the marker configuration in the motion_capture.yaml file, I'm encountering a jittery pose and transform visualization in rviz. I have tried tuning Kalman gain too but it doesn't affect anything. The video I've attached shows the true_cf1 frame, which is a rigid body I'm publishing directly from Motive. You’ll notice that when I manually move the Crazyflie, the pose sometimes jitters back to the true pose and then deviates again. I’ve experimented with all three modes of Mocap available.
Additionally, according to Crazyswarm (the older version) documentation, rigid bodies must be disabled from the assets tab in Motive. However, when I disable them, the point cloud disappears, even though unlabelled markers are enabled in Motive. I am using Motive version 2.3.7 (also tried 2.3.1 before).
I would greatly appreciate any guidance on how to debug this issue. Alternatively, if there’s a way to bypass local estimation and directly use rigid body transforms from Motive to update the pose, that solution would also be acceptable. I have attached relevant screenshots and a video below for reference.
Video: https://drive.google.com/file/d/1PbOWivoL7mvW7Wwj3BT1K6vi4E1283Kq/view?usp=drive_link
Motive settings: (Connected via local network and connection tested via natnet)
Terminal:
Config Files:
crazyflies.txt
motion_capture.txt
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