natnettest is stuck

[poritech]

Hello,

I am trying to use Optitrack to control crazyflie.
When I ran hover_swarm.launch, crazyflie was not plotted in rviz and the LED on crazyflie was lit red.

$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/tyoneda/.ros/log/8bdec866-1b5d-11ec-8f67-30c9abb51acb/roslaunch-tyoneda-Lenovo-IdeaPad-S540-14API-416.logChecking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tyoneda-Lenovo-IdeaPad-S540-14API:42507/

SUMMARY
========

PARAMETERS
 * /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/CF21SingleMarker/bigQuad: False
 * /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
 * /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
 * /crazyflieTypes/default/batteryVoltageWarning: 3.8
 * /crazyflieTypes/default/batteryVoltateCritical: 3.7
 * /crazyflieTypes/default/bigQuad: False
 * /crazyflieTypes/default/dynamicsConfiguration: 0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/default/markerConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/defaultSingleMarker/bigQuad: False
 * /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
 * /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
 * /crazyflieTypes/large/batteryVoltageWarning: 11.4
 * /crazyflieTypes/large/batteryVoltateCritical: 11.1
 * /crazyflieTypes/large/bigQuad: True
 * /crazyflieTypes/large/dynamicsConfiguration: 0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
 * /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
 * /crazyflieTypes/large/markerConfiguration: 2
 * /crazyflieTypes/medium/batteryVoltageWarning: 7.6
 * /crazyflieTypes/medium/batteryVoltateCritical: 7.4
 * /crazyflieTypes/medium/bigQuad: True
 * /crazyflieTypes/medium/dynamicsConfiguration: 0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
 * /crazyflieTypes/medium/markerConfiguration: 1
 * /crazyflies: [{'initialPositio...
 * /crazyswarm_server/enable_logging: False
 * /crazyswarm_server/enable_parameters: True
 * /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
 * /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
 * /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
 * /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
 * /crazyswarm_server/firmwareParams/ring/effect: 16
 * /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
 * /crazyswarm_server/firmwareParams/ring/solidBlue: 255
 * /crazyswarm_server/firmwareParams/ring/solidGreen: 0
 * /crazyswarm_server/firmwareParams/ring/solidRed: 0
 * /crazyswarm_server/firmwareParams/stabilizer/controller: 2
 * /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
 * /crazyswarm_server/force_no_cache: False
 * /crazyswarm_server/genericLogTopicFrequencies: [10]
 * /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
 * /crazyswarm_server/genericLogTopics: ['log1']
 * /crazyswarm_server/motion_capture_type: optitrack
 * /crazyswarm_server/object_tracking_type: motionCapture
 * /crazyswarm_server/optitrack_host_name: optitrack
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/world_frame: /world
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/tyoneda/Doc...
 * /crazyswarm_teleop/timescale: 0.8
 * /dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /dynamicsConfigurations/0/maxPitch: 1.4
 * /dynamicsConfigurations/0/maxPitchRate: 20.0
 * /dynamicsConfigurations/0/maxRoll: 1.4
 * /dynamicsConfigurations/0/maxRollRate: 20.0
 * /dynamicsConfigurations/0/maxXVelocity: 2.0
 * /dynamicsConfigurations/0/maxYVelocity: 2.0
 * /dynamicsConfigurations/0/maxYawRate: 10.0
 * /dynamicsConfigurations/0/maxZVelocity: 3.0
 * /markerConfigurations/0/numPoints: 4
 * /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /markerConfigurations/1/numPoints: 4
 * /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
 * /markerConfigurations/1/points/0: [-0.00896228, -0....
 * /markerConfigurations/1/points/1: [-0.0156318, 0.09...
 * /markerConfigurations/1/points/2: [0.0461693, -0.08...
 * /markerConfigurations/1/points/3: [-0.0789959, -0.0...
 * /markerConfigurations/2/numPoints: 4
 * /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
 * /markerConfigurations/2/points/0: [0.0558163, -0.00...
 * /markerConfigurations/2/points/1: [-0.0113941, 0.00...
 * /markerConfigurations/2/points/2: [-0.0306277, 0.05...
 * /markerConfigurations/2/points/3: [0.0535816, -0.04...
 * /markerConfigurations/3/numPoints: 1
 * /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/3/points/0: [0.0177184, 0.013...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 4
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    crazyswarm_server (crazyswarm/crazyswarm_server)
    crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[crazyswarm_server-1]: started with pid [432]
process[crazyswarm_teleop-2]: started with pid [433]
[ INFO] [1632291812.817105975]: Wait for services...
[ INFO] [1632291812.820482786]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1632291812.970616657]: waitForService: Service [/emergency] is now available.
[ INFO] [1632291812.974929987]: Manager ready.
ch: 1
process[rviz-3]: started with pid [448]
[ INFO] [1632291813.042878209]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1632291813.086635820]: CF ctor: 0.041293 s
[ INFO] [1632291813.093124014]: [cf1] , resetting
[ INFO] [1632291813.102213765]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1632291813.117890762]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1632291813.119685077]: [cf1] Requesting parameters...
[ INFO] [1632291813.145912227]: Found variables in cache.
[ WARN] [1632291813.169767581]: [cf1] Link Quality low (0.280000)
[ WARN] [1632291813.253954260]: [cf1] Link Quality low (0.370000)
[ WARN] [1632291813.339087898]: [cf1] Link Quality low (0.330000)
[ WARN] [1632291813.413953480]: [cf1] Link Quality low (0.430000)
[ WARN] [1632291813.494621117]: [cf1] Link Quality low (0.340000)
[ WARN] [1632291813.577591252]: [cf1] Link Quality low (0.520000)
[ WARN] [1632291813.654418196]: [cf1] Link Quality low (0.670000)
[ WARN] [1632291813.732166592]: [cf1] Link Quality low (0.640000)
[ INFO] [1632291813.938734585]: [cf1] reqParamTOC: 0.851938 s (225 params)
[ INFO] [1632291813.938803612]: Requesting memories...
[ WARN] [1632291813.939612647]: [cf1] Link Quality low (0.610000)
[ INFO] [1632291813.941437438]: Memories: 7
[ INFO] [1632291813.983879202]: [cf1] Ready. Elapsed: 0.897057 s
[ INFO] [1632291813.984524307]: CF run: 0.897733 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1632291814.026507548]: [cf1] Update parameters
[ WARN] [1632291814.090010233]: [cf1] Link Quality low (0.520000)
[ INFO] [1632291814.101406229]: Update params: 0.116721 s
[ INFO] [1632291814.103327767]: Started 1 threads
[rviz-3] process has finished cleanly
log file: /home/tyoneda/.ros/log/8bdec866-1b5d-11ec-8f67-30c9abb51acb/rviz-3*.log

and I thought that the crazyswarm server might not be able to communicate with motive properly, so I ran netstattest, but I could not proceed from the following message.

$ ./natnettest optitrack
NatNetVersion: 0.0.0.0
ServerVersion: 2.7.0.0

Also, the ping to the PC where motive is running works fine.
I am using motive 1.7.5, is this the cause?

[whoenig]

Technically, it should work with Motive <= 2.3 (and there is a PR out that also supports Motive 3.0). However, I personally only tested with Motive 2.0, 2.3, and 3.0. The data you get from natnettest is certainly strange.

1. We only support multicast, not unicast. Make sure this is selected in the Motive streaming options. The version you are using, only supports the default Multicast address, not a customized one (unless you change the code). The same goes for the port. Again, there is a PR that fixes this problem.
2. You could test with the official NatNet SDK (https://optitrack.com/support/downloads/developer-tools.html#natnet-sdk) to rule out issues with your network/Motive configuration. Note that we do not use the SDK directly, as it is only available as a binary library (and was not available at all at the time we developed the Crazyswarm.)

[poritech]

thanks whoenig

1. Motive is the default setting and uses multicast. Is there an improper setting?
   I'm sorry it's not a screenshot
   

2. When I ran the SampleClient included in the official SDK, I got the following output and got stuck on the last line

$ ./SampleClient 192.168.2.124
NatNet Sample Client (NatNet ver. 4.0.0.0)

[NatNetLib]  [INFO]: [Client] Initializing using local address: 192.168.2.92

[NatNetLib]  [INFO]: [Client] Initializing command listener.

[NatNetLib] [ERROR]: Socket error 0: Success

[NatNetLib] [ERROR]: [Client] Receive Buffer Size: 425984

[NatNetLib]  [INFO]: [Client] Host information received. (HostApp: Motive  HostVer: 1.75.0.0  HostIP: 192.168.2.124 ()

[NatNetLib]  [INFO]: [Client] Initializing data listener.

[NatNetLib]  [WARN]: [HELPER] ReceiveBuffer size = 425984

[NatNetLib]  [INFO]: [Client] Connected.

[SampleClient] Server application info:
Application: Motive (ver. 1.75.0.0)
NatNet Version: 2.7.0.0
Client IP:(null)
Server IP:192.168.2.124
Server Name:optitrack
Mocap Framerate : 120.00
Error getting Analog frame rate.
Client initialized and ready.
[SampleClient] Sending Test Request


[SampleClient] Requesting Data Descriptions...
[SampleClient] Received 3 Data Descriptions:
Data Description # 0 (type=1)
RigidBody Name : cf1
RigidBody ID : 1
RigidBody Parent ID : -1
Parent Offset : 0.00,0.00,0.00
Data Description # 1 (type=0)
MarkerSet Name : cf1
1
2
3
4
Data Description # 2 (type=0)
MarkerSet Name : all
cf1_1
cf1_2
cf1_3
cf1_4

Client is connected to server and listening for data...

[whoenig]

This looks like your unicast communication on port 1510 is working fine, but the multicast one on port 1511 is blocked by something. You could try switching to Unicast in the settings and see if that helps (with the official SDK). Also try disabling any firewalls and ideally connect the two computers directly (eg. using a switch, rather than a router).

[poritech]

I'm sorry for late reply

I checked my firewall and the port 1511 was not open. So I opened that port, and ./SampleClient (official SDK) seems to be working properly.
The following is ./SampleClient output.

 $ ./SampleClient 192.168.2.124
NatNet Sample Client (NatNet ver. 4.0.0.0)

[NatNetLib]  [INFO]: [Client] Initializing using local address: 192.168.2.103

[NatNetLib]  [INFO]: [Client] Initializing command listener.

[NatNetLib] [ERROR]: Socket error 0: Success

[NatNetLib] [ERROR]: [Client] Receive Buffer Size: 425984

[NatNetLib]  [INFO]: [Client] Host information received. (HostApp: Motive  HostVer: 1.75.0.0  HostIP: 192.168.2.124 ()

[NatNetLib]  [INFO]: [Client] Initializing data listener.

[NatNetLib]  [WARN]: [HELPER] ReceiveBuffer size = 425984

[NatNetLib]  [INFO]: [Client] Connected.

[SampleClient] Server application info:
Application: Motive (ver. 1.75.0.0)
NatNet Version: 2.7.0.0
Client IP:(null)
Server IP:192.168.2.124
Server Name:optitrack
Mocap Framerate : 120.00
Error getting Analog frame rate.
Client initialized and ready.
[SampleClient] Sending Test Request


[SampleClient] Requesting Data Descriptions...
[SampleClient] Received 3 Data Descriptions:
Data Description # 0 (type=1)
RigidBody Name : cf1
RigidBody ID : 1
RigidBody Parent ID : -1
Parent Offset : 0.00,0.00,0.00
Data Description # 1 (type=0)
MarkerSet Name : cf1
1
2
3
4
Data Description # 2 (type=0)
MarkerSet Name : all
cf1_1
cf1_2
cf1_3
cf1_4

Client is connected to server and listening for data...
FrameID : 4107224
Timestamp : 34226.87
Software latency : -nan milliseconds
Transit latency : -inf milliseconds
Timecode : 00:00:01:212.0
Rigid Bodies [Count=1]
Rigid Body [ID=1  Error=0.00  Valid=1]
	x	y	z	qx	qy	qz	qw
	-0.03	0.03	-0.29	-0.72	0.03	0.69	-0.01
Skeletons [Count=0]
Markers [Count=4]
Labeled Marker [ModelID=0, MarkerID=1] [size=0.02] [pos=-0.03,0.03,-0.32]
Labeled Marker [ModelID=0, MarkerID=2] [size=0.02] [pos=-0.06,0.03,-0.29]
Labeled Marker [ModelID=0, MarkerID=3] [size=0.02] [pos=-0.03,0.04,-0.26]
Labeled Marker [ModelID=0, MarkerID=4] [size=0.02] [pos=0.00,0.03,-0.29]
Force Plate [Count=0]
Device [Count=0]
FrameID : 4107225
Timestamp : 34226.88
Software latency : -nan milliseconds
Transit latency : -inf milliseconds
Timecode : 00:00:01:212.0
Rigid Bodies [Count=1]
Rigid Body [ID=1  Error=0.00  Valid=1]
	x	y	z	qx	qy	qz	qw
	-0.03	0.03	-0.29	-0.72	0.04	0.69	-0.01
Skeletons [Count=0]
Markers [Count=4]
Labeled Marker [ModelID=0, MarkerID=1] [size=0.02] [pos=-0.03,0.03,-0.32]
Labeled Marker [ModelID=0, MarkerID=2] [size=0.02] [pos=-0.06,0.03,-0.29]
Labeled Marker [ModelID=0, MarkerID=3] [size=0.02] [pos=-0.03,0.04,-0.26]
Labeled Marker [ModelID=0, MarkerID=4] [size=0.02] [pos=0.00,0.03,-0.29]
Force Plate [Count=0]
Device [Count=0]
FrameID : 4107226
Timestamp : 34226.88
Software latency : -nan milliseconds
Transit latency : -inf milliseconds
Timecode : 00:00:01:212.0
Rigid Bodies [Count=1]
Rigid Body [ID=1  Error=0.00  Valid=1]
	x	y	z	qx	qy	qz	qw
	-0.03	0.03	-0.29	-0.72	0.04	0.69	-0.01
Skeletons [Count=0]
Markers [Count=4]
Labeled Marker [ModelID=0, MarkerID=1] [size=0.02] [pos=-0.03,0.03,-0.32]
Labeled Marker [ModelID=0, MarkerID=2] [size=0.02] [pos=-0.06,0.03,-0.29]
Labeled Marker [ModelID=0, MarkerID=3] [size=0.02] [pos=-0.03,0.04,-0.26]
Labeled Marker [ModelID=0, MarkerID=4] [size=0.02] [pos=0.00,0.03,-0.29]
Force Plate [Count=0]
Device [Count=0]

# similar output will follow ...

and the following is ./natnettest output.

$ ./natnettest 192.168.2.124
NatNetVersion: 0.0.0.0
ServerVersion: 2.7.0.0
Begin Packet
 -------
NatNetVersion 0 0 0 0
Message ID  : 7 NAT_FRAMEOFDATA
Packet Size : 468
MoCap Frame Begin
---------------- 
Frame # : 4230322
Marker Set Count :   2
Model Name       : cf1
Marker Count     :   4
  Marker   0 : [x=-0.01,y=0.03,z=-0.31]
  Marker   1 : [x=-0.04,y=0.03,z=-0.28]
  Marker   2 : [x=-0.01,y=0.03,z=-0.25]
  Marker   3 : [x=0.02,y=0.03,z=-0.29]
Model Name       : all
Marker Count     :   4
  Marker   0 : [x=-0.01,y=0.03,z=-0.31]
  Marker   1 : [x=-0.04,y=0.03,z=-0.28]
  Marker   2 : [x=-0.01,y=0.03,z=-0.25]
  Marker   3 : [x=0.02,y=0.03,z=-0.29]
Unlabeled Markers Count : 8
  Marker   0 : [x=-2.68,y=0.22,z=1.15]
  Marker   1 : [x=-2.70,y=0.15,z=0.87]
  Marker   2 : [x=-2.91,y=0.22,z=0.97]
  Marker   3 : [x=-2.86,y=0.25,z=1.08]
  Marker   4 : [x=3.12,y=0.71,z=0.42]
  Marker   5 : [x=-2.71,y=0.14,z=1.26]
  Marker   6 : [x=-3.21,y=0.06,z=1.86]
  Marker   7 : [x=-0.89,y=0.23,z=0.51]
Rigid Body Count :   1
  RB:   0 ID :   1
    pos: [-0.01,0.03,-0.28]
    ori: [-0.72,0.03,0.70,-0.02]
Marker Count: 4
  Marker 0: pos = [-0.01,0.03,-0.31]
  Marker 1: pos = [-0.04,0.03,-0.28]
  Marker 2: pos = [-0.01,0.03,-0.25]
  Marker 3: pos = [0.02,0.03,-0.29]
    Mean marker err: 0.00
    Tracking Valid: False
software latency : 0.000
Timestamp : -0.000
Mid-exposure timestamp         : 11215718737135418564
Camera data received timestamp : 344697332907204
Transmit timestamp             : 17179869184
MoCap Frame End
---------------- - 
End Packet
-------------
WARNING: 472 expected but 364 bytes processed
Sample of remaining bytes:
            67 bc 67 52         g gR
0b 3d 4d 82     a0 be a6 9b       M     
c4 3c 02 00     02 00 00 00             
cc 87 2d bd     e3 57 0c 3d          W  
7b d3 8f be     a6 9b c4 3c             
02 00 03 00     00 00 e7 3f             
30 bc 71 6e     0e 3d d4 cf     0 qn    
81 be a6 9b     c4 3c 02 00             
04 00 00 00     04 8f 90 3c             
69 01 0a 3d     bc 10 92 be     i       
a6 9b c4 3c     02 00 af b4             
09 47 00 00     00 00 00 00      G      
00 00 de dd     dd dd 95 36            6
e1 40 00 00     00 00 00 00             
Begin Packet
-------
NatNetVersion 0 0 0 0
Message ID  : 7 NAT_FRAMEOFDATA
Packet Size : 444
MoCap Frame Begin
---------------- - 
Frame # : 4230323
Marker Set Count :   2
Model Name       : cf1
Marker Count     :   4
  Marker   0 : [x=-0.01,y=0.03,z=-0.31]
  Marker   1 : [x=-0.04,y=0.03,z=-0.28]
  Marker   2 : [x=-0.01,y=0.03,z=-0.25]
  Marker   3 : [x=0.02,y=0.03,z=-0.29]
Model Name       : all
Marker Count     :   4
  Marker   0 : [x=-0.01,y=0.03,z=-0.31]
  Marker   1 : [x=-0.04,y=0.03,z=-0.28]
  Marker   2 : [x=-0.01,y=0.03,z=-0.25]
  Marker   3 : [x=0.02,y=0.03,z=-0.29]
Unlabeled Markers Count : 6
  Marker   0 : [x=-2.68,y=0.22,z=1.16]
  Marker   1 : [x=-2.70,y=0.15,z=0.87]
  Marker   2 : [x=-2.91,y=0.22,z=0.97]
  Marker   3 : [x=-2.86,y=0.25,z=1.08]
  Marker   4 : [x=3.12,y=0.71,z=0.42]
  Marker   5 : [x=-3.21,y=0.06,z=1.86]
Rigid Body Count :   1
  RB:   0 ID :   1
    pos: [-0.01,0.03,-0.28]
    ori: [-0.72,0.03,0.70,-0.02]
Marker Count: 4
  Marker 0: pos = [-0.01,0.03,-0.31]
  Marker 1: pos = [-0.04,0.03,-0.28]
  Marker 2: pos = [-0.01,0.03,-0.25]
  Marker 3: pos = [0.02,0.03,-0.29]
    Mean marker err: 0.00
    Tracking Valid: False
software latency : 0.000
Timestamp : -0.000
Mid-exposure timestamp         : 11215718737135418564
Camera data received timestamp : 344663402429636
Transmit timestamp             : 17179869184
MoCap Frame End
---------------- - 
End Packet
-------------
WARNING: 448 expected but 340 bytes processed
Sample of remaining bytes:
            67 bc d7 58         g  X
0b 3d 6f 81     a0 be a6 9b       o     
c4 3c 02 00     02 00 00 00             
6f a4 2d bd     53 5e 0c 3d     o   S   
9b d4 8f be     a6 9b c4 3c             
02 00 03 00     00 00 6a f7           j 
2f bc a9 54     0e 3d 34 ce        T  4 
81 be a6 9b     c4 3c 02 00             
04 00 00 00     87 7d 90 3c             
fc f1 09 3d     0c 11 92 be             
a6 9b c4 3c     02 00 b1 b4             
09 47 00 00     00 00 00 00      G      
00 00 22 22     22 22 96 36            6
e1 40 00 00     00 00 00 00             

# similar output will follow ...

both ./SampleClient and ./natnettest seem to be working properly, so I tried to run roslaunch crazyswarm hover_swarm.launch, but an error occurs during the process and the process stops

$ roslaunch crazyswarm hover_swarm.launch
... logging to /home/tyoneda/.ros/log/bb6ef938-24d7-11ec-b7bb-30c9abb51acb/roslaunch-tyoneda-Lenovo-IdeaPad-S540-14API-2258.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tyoneda-Lenovo-IdeaPad-S540-14API:40137/

SUMMARY
========

PARAMETERS
 * /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/CF21SingleMarker/bigQuad: False
 * /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
 * /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
 * /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
 * /crazyflieTypes/default/batteryVoltageWarning: 3.8
 * /crazyflieTypes/default/batteryVoltateCritical: 3.7
 * /crazyflieTypes/default/bigQuad: False
 * /crazyflieTypes/default/dynamicsConfiguration: 0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/default/markerConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
 * /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
 * /crazyflieTypes/defaultSingleMarker/bigQuad: False
 * /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
 * /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
 * /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
 * /crazyflieTypes/large/batteryVoltageWarning: 11.4
 * /crazyflieTypes/large/batteryVoltateCritical: 11.1
 * /crazyflieTypes/large/bigQuad: True
 * /crazyflieTypes/large/dynamicsConfiguration: 0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
 * /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
 * /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
 * /crazyflieTypes/large/markerConfiguration: 2
 * /crazyflieTypes/medium/batteryVoltageWarning: 7.6
 * /crazyflieTypes/medium/batteryVoltateCritical: 7.4
 * /crazyflieTypes/medium/bigQuad: True
 * /crazyflieTypes/medium/dynamicsConfiguration: 0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
 * /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
 * /crazyflieTypes/medium/markerConfiguration: 1
 * /crazyflies: [{'initialPositio...
 * /crazyswarm_server/enable_logging: True
 * /crazyswarm_server/enable_logging_pose: True
 * /crazyswarm_server/enable_parameters: True
 * /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
 * /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
 * /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
 * /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
 * /crazyswarm_server/firmwareParams/ring/effect: 16
 * /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
 * /crazyswarm_server/firmwareParams/ring/solidBlue: 255
 * /crazyswarm_server/firmwareParams/ring/solidGreen: 0
 * /crazyswarm_server/firmwareParams/ring/solidRed: 0
 * /crazyswarm_server/firmwareParams/stabilizer/controller: 2
 * /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
 * /crazyswarm_server/force_no_cache: False
 * /crazyswarm_server/genericLogTopicFrequencies: [10]
 * /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
 * /crazyswarm_server/genericLogTopics: ['log1']
 * /crazyswarm_server/motion_capture_type: optitrack
 * /crazyswarm_server/object_tracking_type: motionCapture
 * /crazyswarm_server/optitrack_host_name: optitrack
 * /crazyswarm_server/print_latency: False
 * /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
 * /crazyswarm_server/send_position_only: False
 * /crazyswarm_server/world_frame: /world
 * /crazyswarm_server/write_csvs: False
 * /crazyswarm_teleop/csv_file: /home/tyoneda/Doc...
 * /crazyswarm_teleop/timescale: 0.8
 * /dynamicsConfigurations/0/maxFitnessScore: 0.001
 * /dynamicsConfigurations/0/maxPitch: 1.4
 * /dynamicsConfigurations/0/maxPitchRate: 20.0
 * /dynamicsConfigurations/0/maxRoll: 1.4
 * /dynamicsConfigurations/0/maxRollRate: 20.0
 * /dynamicsConfigurations/0/maxXVelocity: 2.0
 * /dynamicsConfigurations/0/maxYVelocity: 2.0
 * /dynamicsConfigurations/0/maxYawRate: 10.0
 * /dynamicsConfigurations/0/maxZVelocity: 3.0
 * /markerConfigurations/0/numPoints: 4
 * /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/0/points/0: [0.0177184, 0.013...
 * /markerConfigurations/0/points/1: [-0.0262914, 0.05...
 * /markerConfigurations/0/points/2: [-0.0328889, -0.0...
 * /markerConfigurations/0/points/3: [0.0431307, -0.03...
 * /markerConfigurations/1/numPoints: 4
 * /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
 * /markerConfigurations/1/points/0: [-0.00896228, -0....
 * /markerConfigurations/1/points/1: [-0.0156318, 0.09...
 * /markerConfigurations/1/points/2: [0.0461693, -0.08...
 * /markerConfigurations/1/points/3: [-0.0789959, -0.0...
 * /markerConfigurations/2/numPoints: 4
 * /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
 * /markerConfigurations/2/points/0: [0.0558163, -0.00...
 * /markerConfigurations/2/points/1: [-0.0113941, 0.00...
 * /markerConfigurations/2/points/2: [-0.0306277, 0.05...
 * /markerConfigurations/2/points/3: [0.0535816, -0.04...
 * /markerConfigurations/3/numPoints: 1
 * /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
 * /markerConfigurations/3/points/0: [0.0177184, 0.013...
 * /numDynamicsConfigurations: 1
 * /numMarkerConfigurations: 4
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    crazyswarm_server (crazyswarm/crazyswarm_server)
    crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [2279]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bb6ef938-24d7-11ec-b7bb-30c9abb51acb
process[rosout-1]: started with pid [2293]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [2300]
process[crazyswarm_teleop-3]: started with pid [2301]
process[rviz-4]: started with pid [2302]
[ INFO] [1633326954.550357820]: Wait for services...
[ INFO] [1633326954.553924749]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1633326954.683307719]: waitForService: Service [/emergency] is now available.
[ INFO] [1633326954.688030942]: Manager ready.
ch: 1
[ INFO] [1633326954.768404962]: Adding CF: cf1 (radio://0/80/2M/E7E7E7E701, cf1)...
[ INFO] [1633326954.810330190]: CF ctor: 0.039429 s
[ WARN] [1633326954.812635926]: Received unrequested data for block: 0
[ WARN] [1633326954.813636739]: Received unrequested data for block: 0
[ INFO] [1633326954.817803966]: [cf1] WARNING: LOG packets drop deteESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.820913795]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.824101209]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.827326715]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.831436765]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.834660718]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.837825400]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.841130466]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.844464507]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.847511267]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.850492233]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.853659700]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.856704566]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.859752479]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.862697127]: [cf1] ESTKALMAN: State out of bounds, resetting
[ INFO] [1633326954.864217767]: [cf1] Requesting parameters...
[ INFO] [1633326954.891742753]: Found variables in cache.
[ INFO] [1633326955.226187315]: [cf1] reqParamTOC: 0.415728 s (225 params)
[ INFO] [1633326955.226268027]: [cf1] Requesting logging variables...
[ INFO] [1633326955.229218666]: Found variables in cache.
[ INFO] [1633326955.230799399]: [cf1] reqLogTOC: 0.004608 s
[ INFO] [1633326955.236207691]: [cf1] logBlocks: 0.415728 s
[ INFO] [1633326955.240233061]: Requesting memories...
[ INFO] [1633326955.242487311]: Memories: 7
[ INFO] [1633326955.262246793]: [cf1] Ready. Elapsed: 0.451783 s
[ INFO] [1633326955.262330981]: CF run: 0.452066 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 255
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1633326955.317011028]: [cf1] Update parameters
[ INFO] [1633326955.379149984]: Update params: 0.116738 s
[ INFO] [1633326955.379495804]: Started 1 threads
terminate called after throwing an instance of 'std::length_error'
  what():  vector::_M_default_append
[crazyswarm_server-2] process has died [pid 2300, exit code -6, cmd /home/tyoneda/Documents/bitcraze/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/tyoneda/.ros/log/bb6ef938-24d7-11ec-b7bb-30c9abb51acb/crazyswarm_server-2.log].
log file: /home/tyoneda/.ros/log/bb6ef938-24d7-11ec-b7bb-30c9abb51acb/crazyswarm_server-2*.log
^C[rviz-4] killing on exit
[crazyswarm_teleop-3] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

this problem seems to be a ROS issue (but I'm beginner to ROS).
I'll share the ROS logs (Google Drive)

also, the version of Motive is 1.7.5, and as far as I searched, the data streaming setting "Up axis: Z" does not exist. Is there any possibility that this is causing some problems?

[whoenig]

We only test Motive 2.3 and 3.0. It looks like there is a bug in our parsing code (only in the libmotioncapture port, not in NatNetSDKCrossplatform, interestingly). Is it possible for you to upgrade Motive? Addressing the bug might be interesting, but it is something you would need to do, since I don't have access to testing with Motive 1.x. Essentially, you want to compare https://github.com/whoenig/NatNetSDKCrossplatform/blob/master/samples/PacketClient/PacketClient.cpp and https://github.com/IMRCLab/libmotioncapture/blob/main/src/optitrack.cpp and find semantic differences between the two versions.

Related: #492 and #490

The missing option is not a problem per-se, as you could do the coordination transformation manually in the code as well. However, given that Motive 2.x is been around for 4 years (and 3.0 is the current version), I think a software upgrade might be the better option.

[LESLIEWANGer]

I met the same problems.Can I communicate with you?
I guess you are from china based on your ip.
My QQ is 1172556744 or QQ Email:[email protected]