Motive 2.0 with VRPN streaming (Unknown motion capture type!

[elim17]

Hello,

I was referencing the issue below as our lab is using vrpn with motive Optitrack.https://github.com/USC-ACTLab/crazyswarm/issues/121. When I run hover_swarm.launch the server dies because of a runtime_error "Unknown motion capture type". I know it is the motion capture type parameter in the launch file, because when I change the parameter to Optitrack, the server launches and stays running. However, when I hit the start button on the controller it still doesn't fly. Any ideas?

[whoenig]

I think VRPN is not compiled by default anymore, because of issues with Ubuntu 20.04/ROS melodic. However, there is no reason to use VRPN for an Optitrack system - the integrated optitrack support should be far superior to the VRPN mode.

To check your mocap, you can try launching mocap_helper.launch instead of hover_swarm.launch. If your drone isn't doing anything, it is likely a firmware issue, though - did you upgrade your Crazyradio as well as NRF firmwares?

[wangmenghetrue]

Hi! Has your problem been solved? The motion capture system I use also uses vrpn. Then, I ran hover_swarm.launch and had the same problem as you. I ran mocap_helper.launch and showed the following results.what(): Unknown motion capture type !
My configuration file is
# tracking
motion_capture_type: "vrpn" # one of none,vicon,optitrack,qualisys,vrpn
object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker
send_position_only: False # set to False to send position+orientation; set to True to send position only
#vicon_host_name: "vicon"
# optitrack_host_name: "optitrack"
# qualisys_host_name: "10.0.5.219"
# qualisys_base_port: 22222
vrpn_host_name: "192.168.2.137"
save_point_clouds: ~/pointCloud.ot
print_latency: False
I really hope to get your help! thank you very much!

[whoenig]

See #505.

[elim17]

Hi, Unfortunately we decided to use the Motive Optitrack's default streaming which uses NatNet. It seems that the VRPN streaming has been deprecated. What mocap software are you using?

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On Sun, Oct 17, 2021 at 8:45 AM wangmenghetrue ***@***.***> wrote: Hi! Has your problem been solved? The motion capture system I use also uses vrpn. Then, I ran hover_swarm.launch and had the same problem as you. I ran mocap_helper.launch and showed the following results.what(): Unknown motion capture type ! My configuration file is # tracking motion_capture_type: "vrpn" # one of none,vicon,optitrack,qualisys,vrpn object_tracking_type: "motionCapture" # one of motionCapture,libobjecttracker send_position_only: False # set to False to send position+orientation; set to True to send position only #vicon_host_name: "vicon" # optitrack_host_name: "optitrack" # qualisys_host_name: "10.0.5.219" # qualisys_base_port: 22222 vrpn_host_name: "192.168.2.137" save_point_clouds: ~/pointCloud.ot print_latency: False I really hope to get your help! thank you very much! — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#299 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AKHW7YLGJ7O65GBW5KJ3VBLUHLORJANCNFSM5GE4FR7A> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.